Multi-modal distribution systems and methods using vending kiosks and autonomous delivery vehicles

ABSTRACT

Vehicles, components, and methods are disclosed for distributing hot or cold food items from a vending kiosk, a locker system, or a self-propelled delivery vehicle. The vending kiosk may have multiple doors, at least one of which is unlocked responsive to confirming a purchase transaction or authenticating the presence of a person or device associated with the purchase transaction. The multiple doors provide access to respective compartments that may be selectively heated and refrigerated. Such temperature changes may be based upon a temperature control schedule. The locker system may include one or more configurable compartments that may be accessible via a set of set of doors that can be selectively coupled into larger doors. The self-propelled delivery vehicle may have a plurality of thermally insulated compartments that may be used to carry multiple items at different temperatures.

TECHNICAL FIELD

This description generally relates to vending and delivery of items,such as food items, in particular using one or more of vending kiosksand autonomous delivery vehicles.

DESCRIPTION OF THE RELATED ART

Historically, consumers have had a choice when hot, prepared, food wasdesired. Some consumers would travel to a restaurant or other foodestablishment where such food would be prepared and consumed on thepremises. Other consumers would travel to the restaurant or other foodestablishment, purchase hot, prepared, food and transport the food to anoff-premises location, such as a home or picnic location forconsumption. Yet other consumers ordered delivery of hot, prepared food,for consumption at home. Over time, the availability of delivery of hot,prepared, foods has increased and now plays a significant role in themarketplace. Delivery of such hot, prepared, foods was once consideredthe near exclusive purview of Chinese take-out and pizza parlors.However, today even convenience stores and “fast-food” purveyors such asfranchised hamburger restaurants have taken to testing the deliverymarketplace. The delivery of food items to individual consumers canrepresent one of the biggest costs of a food establishment.

BRIEF SUMMARY

A vending kiosk may be summarized as including: a plurality ofcompartments, each of the compartments having a respective interior anda respective opening via which items are retrievable or dispensable fromthe interior to an exterior of the vending kiosk, the interiors of thecompartments delineated from one another; a plurality of doors, thedoors respectively moveable between a closed configuration in which thedoor prevents access to the interior of at least one of the compartmentsand an open configuration in which the door provides access to theinterior of at least one of the compartments; a plurality of actuatorsresponsive to at least one actuator control signal to lock the doors inthe closed configuration and selectively unlock one or more of the doorsto move to the open configuration; and at least one processorcommunicatively coupled to the actuators to provide the at least oneactuator control signal to unlock one or more of the doors in responseto at least one of: a purchase transaction occurring at or proximate thekiosk or a receipt of information that indicates a presence of a deviceor a person proximate the kiosk the device or person logicallyassociated with a previous purchase transaction.

At least one of the plurality of actuators may be comprised of at leastone of a solenoid, a piston and associated cylinder, a pair of magnetsincluding at least one electromagnet, and a pair of an electromagnet anda ferrous metal. The device or the person proximate the vending kioskmay be within 4 inches of the vending kiosk. The device or the personproximate the vending kiosk may be within 9 feet of the vending kiosk.

The vending kiosk may further include a plurality of heaters positionedto heat the interiors of the compartments.

At least one of the plurality of heaters may be comprised of at leastone of an electrically resistive heating element, a natural gas burner,a propane burner, and an inductive heating element. The plurality ofheaters may include at least one electrically resistive heating elementper compartment. The plurality of heaters may each be operable to raisea temperature in at least one of the compartments to at least 325° F. tocook an item of food stored in the compartment. The plurality of heatersmay each be operable to raise a temperature in at least one of thecompartments to between 140° F. and 250° F. to warm an already cookeditem of food stored in the compartment.

The vending kiosk may further include a plurality of coolers positionedto cool the interiors of the compartments.

At least one of the plurality of coolers may be comprised of at leastone of a refrigerant carrying coil and associated compressor, a Peltiercooler, and a thermoelectric cooler. The plurality of coolers mayinclude at least one refrigerant carrying coil per compartment.

The vending kiosk may further include thermal insulation positioned tothermally insulate the compartments from one another.

The vending kiosk may further include at least one card reader thatreads information encoded in a financial transaction card, the at leastone card reader communicatively coupled to the at least one processor toauthorize a purchase transaction based on the information read from thefinancial transaction card.

The vending kiosk may further include: at least one antenna, and atleast one radio communicatively coupled to the antenna, wherein the atleast one processor includes a near field communications processorcommunicatively coupled to the radio to receive near fieldcommunications signals via the antenna and authorize a purchasetransaction based on information encoded in the received near fieldcommunications signals.

The vending kiosk may further include: at least one antenna, and atleast one radio communicatively coupled to the antenna, wherein the atleast one processor may include a near field communications processorcommunicatively coupled to the radio to receive near fieldcommunications signals via the antenna and confirm that the device orthe person logically associated with the previous purchase transactionis proximate the kiosk via the near field communications signals.

The vending kiosk may further include at least one user input devicecomprising a keypad card that allows entry of a key code, the user inputdevice communicatively coupled to the at least one processor whichconfirms that an entered key code matches a key code for the previouspurchase transaction.

The actuators may be part of a latch mechanism that locks and unlock thedoors. The doors may be manually moveable from the closed configurationto the open configuration when unlocked. The actuators may be coupled tophysically move the doors to the closed configuration. The actuators maybe coupled to physically move the doors to the open configuration. Theactuators may fail to the closed configuration. The actuators may failto a locked state in which the doors are locked in the closedconfiguration.

The vending kiosk may further include a plurality of springs that biasthe doors toward the closed configuration.

The vending kiosk may further include a plurality of springs that biasthe doors toward the open configuration.

The vending kiosk may further include a plurality of magnets that biasthe doors toward the closed configuration.

At least one of the plurality of magnets may be a permanent magnet. Atleast one of the plurality of magnets may be an electromagnet.

The vending kiosk may further include a plurality of magnets that biasthe doors toward the open configuration.

At least one of the plurality of magnets may be a permanent magnet. Atleast one of the plurality of magnets may be an electromagnet. Thevending kiosk may be a self-propelled vehicle, and may further include:at least one of a set of wheels or a set of treads; and at least onemotor coupled to drive the set of wheels and the set of treads to propelthe kiosk in an autonomous or semi-autonomous vehicle mode.

The vending kiosk may further include: a low pressure source having apressure less than an atmospheric pressure of an external ambientenvironment; a plenum proximate a bottom of the vending kiosk, theplenum in fluid communication with the low pressure source; and a debriscollection compartment, in communication with the plenum to collectdebris pick-up via a suction effect at the plenum.

The vending kiosk may further include: at least one brush positioned tocontact a surface on which the vending kiosk is supported; and at leastone motor coupled to move the brush to sweep debris on the surface ofground.

A vending kiosk may be summarized as including: a plurality ofcompartments, each of the compartments having a respective interior anda respective opening via which items are retrievable or dispensable fromthe interior to an exterior of the vending kiosk, the interiors of thecompartments delineated and thermally insulated from one another; aplurality of doors, the doors respectively moveable between a closedconfiguration in which the door prevents access to the interior of atleast one of the compartments and an open configuration in which thedoor provides access to the interior of at least one of thecompartments; a plurality of actuators responsive to at least oneactuator control signal to lock the doors in the closed configurationand selectively unlock one or more of the doors to move to the openconfiguration; a plurality of heaters positioned to heat the interiorsof the compartments; a plurality of coolers positioned to cool theinteriors of the compartments; and at least one processorcommunicatively coupled to provide control signals to control theheaters, the coolers and the actuators.

At least one of the plurality of actuators may be comprised of at leastone of a solenoid, a piston and associated cylinder, a pair of magnetsincluding at least one electromagnet, and a pair of an electromagnet anda ferrous metal. At least one of the plurality of heaters may becomprised of at least one of an electrically resistive heating element,a natural gas burner, a propane burner, and an inductive heatingelement. At least one of the plurality of coolers may be comprised of atleast one of a refrigerant carrying coil and associated compressor, aPeltier cooler, and a thermoelectric cooler. The plurality of heatersmay include at least one electrically resistive heating element percompartment. The plurality of heaters may each be operable to raise atemperature in at least one of the compartments to at least 325° F. tocook an item of food stored in the compartment. The plurality of heatersmay each be operable to raise a temperature in at least one of thecompartments to between 140° F. and 250° F. to warm an already cookeditem of food stored in the compartment. The plurality of coolers mayinclude at least one cooler per compartment. The plurality of coolersmay include at least one refrigerant carrying coil per compartment. Theplurality of coolers may each be operable to lower a temperature in atleast one of the compartments to at or below 41° F. to cool an item offood stored in the compartment. The plurality of compartments may eachbe operable to selectively transition between a refrigeration state inwhich the plurality of coolers are operable to lower a temperature in atleast one compartment to at or below 41° F. and a heated state in whichthe plurality of heaters are each operable to raise a temperature in theat least one compartment to at least 140° F. The heated state mayinclude a cooking state in which the at least one compartment is heatedto at least 325° F. to cook an item of food and a warming state in whichthe at least one compartment is heated to between 140° F. and 250° F. towarm an item of food. The at least one compartment may transition fromthe cooking state to one of the refrigeration state and the warmingstate responsive to cooking of a food item. The at least one compartmentmay selectively, operably transition between the refrigeration state,the warming state, and the cooking state. The at least one compartmentmay transition between a plurality of the refrigeration state, thewarming state, and the cooking state based at least in part upon atemperature control schedule. The temperature control schedule for theat least one compartment may be based at least in part upon an estimatedpick-up time for the food item being dispensed from the at least onecompartment. The temperature control schedule may be updateable based atleast in part on a change in the estimated pick-up time.

The vending kiosk may further include at least one card reader thatreads information encoded in a financial transaction card, the at leastone card reader communicatively coupled to the at least one processor toauthorize a purchase transaction based on the information read from thefinancial transaction card.

The vending kiosk may further include: at least one antenna, and atleast one radio communicatively coupled to the antenna, wherein the atleast one processor may include a near field communications processorcommunicatively coupled to the radio to receive near fieldcommunications signals via the antenna and authorize a purchasetransaction based on information encoded in the received near fieldcommunications signals.

The vending kiosk may further include: at least one antenna, and atleast one radio communicatively coupled to the antenna, wherein the atleast one processor may include a near field communications processorcommunicatively coupled to the radio to receive near fieldcommunications signals via the antenna and confirm that the device orthe person logically associated with the previous purchase transactionis proximate the kiosk via the near field communications signals.

The vending kiosk may further include at least one user input devicecomprising a keypad that allows entry of a key code, the user inputdevice communicatively coupled to the at least one processor whichconfirms that an entered key code matches a key code for the previouspurchase transaction.

The actuators may be part of a latch mechanism that locks and unlock thedoors. The doors may be manually moveable from the closed configurationto the open configuration when unlocked. The actuators may be coupled tophysically move the doors to the closed configuration. The actuators maybe coupled to physically move the doors to the open configuration. Theactuators may fail to the closed configuration. The actuators may failto a locked state in which the doors are locked in the closedconfiguration.

The vending kiosk may further include a plurality of springs that biasthe doors toward the closed configuration.

The vending kiosk may further include a plurality of springs that biasthe doors toward the open configuration.

The vending kiosk may further include a plurality of magnets that biasthe doors toward the closed configuration.

At least one of the plurality of magnets may be a permanent magnet. Atleast one of the plurality of magnets may be an electromagnet.

The vending kiosk may further include a plurality of magnets that biasthe doors toward the open configuration.

At least one of the plurality of magnets may be a permanent magnet. Atleast one of the plurality of magnets may be an electromagnet. Thevending kiosk may be a self-propelled vehicle, and may further include:at least one of a set of wheels or a set of treads; and at least onemotor coupled to drive the set of wheels and the set of treads to propelthe kiosk in an autonomous or semi-autonomous vehicle mode.

The vending kiosk may further include: a low pressure source having apressure less than an atmospheric pressure of an external ambientenvironment; a plenum proximate a bottom of the vending kiosk, theplenum in fluid communication with the low pressure source; and a debriscollection compartment, in communication with the plenum to collectdebris pick-up via a suction effect at the plenum.

The vending kiosk may further include: at least one brush positioned tocontact a surface on which the vending kiosk is supported; and at leastone motor coupled to move the brush to sweep debris on the surface ofground.

A vending kiosk may be summarized as including: a plurality ofcompartments, each of the compartments having a respective interior anda respective opening via which items are retrievable or dispensable fromthe interior to an exterior of the vending kiosk, the interiors of thecompartments delineated and thermally insulated from one another; aplurality of doors, the doors respectively moveable between a closedconfiguration in which the door prevents access to the interior of atleast one of the compartments and an open configuration in which thedoor provides access to the interior of at least one of thecompartments; a plurality of actuators responsive to at least oneactuator control signal to lock the doors in the closed configurationand selectively unlock one or more of the doors to move to the openconfiguration; at least one processor communicatively coupled to providecontrol signals to control the actuators; a low pressure source having apressure less than an atmospheric pressure of an external ambientenvironment; a plenum proximate a bottom of the vending kiosk, theplenum in fluid communication with the low pressure source; and a debriscollection compartment, in communication with the plenum to collectdebris pick-up via a suction effect at the plenum.

At least one of the plurality of actuators may be comprised of at leastone of a solenoid, a piston and associated cylinder, a pair of magnetsincluding at least one electromagnet, and a pair of an electromagnet anda ferrous metal.

The vending kiosk may further include: at least one brush positioned tocontact a surface on which the vending kiosk is supported; and at leastone motor coupled to move the brush to sweep debris on the surface ofground.

The vending kiosk may further include a plurality of heaters positionedto heat the interiors of the compartments.

At least one of the plurality of heaters may be comprised of at leastone of an electrically resistive heating element, a natural gas burner,a propane burner, and an inductive heating element.

The vending kiosk may further include a plurality of coolers positionedto cool the interiors of the compartments.

At least one of the plurality of coolers may be comprised of at leastone of a refrigerant carrying coil and associated compressor, a Peltiercooler, and a thermoelectric cooler.

The vending kiosk may further include: at least one antenna, and atleast one radio communicatively coupled to the antenna, wherein the atleast one processor includes a near field communications processorcommunicatively coupled to the radio to receive near fieldcommunications signals via the antenna and authorize a purchasetransaction based on information encoded in the received near fieldcommunications signals.

The vending kiosk may further include: at least one antenna, and atleast one radio communicatively coupled to the antenna, wherein the atleast one processor may include a near field communications processorcommunicatively coupled to the radio to receive near fieldcommunications signals via the antenna and confirm that the device orthe person logically associated with the previous purchase transactionis proximate the kiosk via the near field communications signals.

The vending kiosk may further include at least one user input devicecomprising a keypad card that allows entry of a key code, the user inputdevice communicatively coupled to the at least one processor whichconfirms that an entered key code matches a key code for the previouspurchase transaction.

The vending kiosk may further include at least one card reader thatreads information encoded in a financial transaction card, the at leastone card reader communicatively coupled to the at least one processor toauthorize a purchase transaction based on the information read from thefinancial transaction card.

The actuators may be part of a latch mechanism that locks and unlock thedoors. The doors may be manually moveable from the closed configurationto the open configuration when unlocked. The actuators may be coupled tophysically move the doors to the closed configuration. The actuators maybe coupled to physically move the doors to the open configuration. Theactuators may fail to the closed configuration. The actuators may failto a locked state in which the doors are locked in the closedconfiguration.

The vending kiosk may further include a plurality of springs that biasthe doors toward the closed configuration.

The vending kiosk may further include a plurality of springs that biasthe doors toward the open configuration.

The vending kiosk may further include a plurality of magnets that biasthe doors toward the closed configuration.

At least one of the plurality of magnets may be a permanent magnet. Atleast one of the plurality of magnets may be an electromagnet.

The vending kiosk may further include a plurality of magnets that biasthe doors toward the open configuration.

At least one of the plurality of magnets may be a permanent magnet. Atleast one of the plurality of magnets may be an electromagnet.

A locker system may be summarized as including: a plurality ofcompartments, each of the compartments having a respective interior anda respective opening via which items are retrievable or dispensable fromthe interior to an exterior of the vending kiosk, the interiors of thecompartments delineated from one another; a plurality of doors, thedoors respectively moveable between a closed configuration in which thedoor prevents access to the interior of at least one of the compartmentsand an open configuration in which the door provides access to theinterior of at least one of the compartments; a plurality of actuatorsresponsive to at least one actuator control signal to selectivelyuncouple two or more of the doors from each other to move independentlyfrom one another in an uncoupled configuration and to couple two or moreof the doors together to move as one in a coupled configuration, andresponsive to at least one actuator control signal to lock the doors inthe closed configuration and selectively unlock one or more of the doorsto move to the open configuration; and at least one processorcommunicatively coupled to the actuators to provides the at least oneactuator control signal.

At least one of the plurality of actuators may be comprised of at leastone of a solenoid, a piston and associated cylinder, a pair of magnetsincluding at least one electromagnet, and a pair of an electromagnet anda ferrous metal. The plurality of actuators may include: a first set ofthe actuators which are responsive to at least one actuator controlsignal to selectively uncouple two or more of the doors from each otherto move independently from one another in an uncoupled configuration andto couple two or more of the doors together to move as one in a coupledconfiguration; and a second set of the actuators which are responsive toat least one actuator control signal to lock the doors in the closedconfiguration and selectively unlock one or more of the doors to move tothe open configuration. The actuators of the second set may not be inthe first set and the actuators of the first set may not be in thesecond set. The plurality of actuators may include a third set of theactuators which are responsive to at least one actuator control signalto selectively hinge one or more of the doors to pivot about a firstaxis, and to alternatively selectively hinge the one or more doors topivot about a second axis, the second axis opposed across a dimension ofthe door from the first axis. The actuators of the first set ofactuators may cause one or more doors to pivot about a right side axison a right edge of the one or more doors in a first configuration andmay cause one or more doors to pivot about a left side axis on a leftedge of the one or more doors in a second configuration. The actuatorsof the first set of actuators may cause one or more doors to pivot abouta top axis on a top edge of the one or more doors in a firstconfiguration and may cause one or more doors to pivot about a bottomaxis on a bottom edge of the one or more doors in a secondconfiguration. The at least one processor may determine an end userphysical trait and may select the first or the second configurationsbased on the determined end user physical trait. The at least oneprocessor may determine the end user physical trait from a set of storeduser specific information. The at least one processor may determine theend user physical trait from at least one image of an end user who isproximate the locker system.

A self-propelled delivery robot may be summarized as including: apropulsion subsystem including at least one motor coupled to move theself-propelled delivery robot through an environment; a first thermallyinsulated compartment having a first interior, the first interior sizedand dimensioned to contain a first food item; a second thermallyinsulated compartment having a second interior, the second interiorsized and dimensioned to contain a second food item; and a controlsubsystem comprising: a processor; and a computer readable memory, thecomputer readable memory including processor-readable instructions thatwhen executed by the processor, cause the processor to: receive locationinformation related to a destination; and transmit at least oneinstruction to the at least one motor, the at least one instructionwhich causes the at least one motor to move the self-propelled deliveryrobot along a route.

The self-propelled delivery robot may further include a container, thecontainer which surrounds the first thermally insulated compartment andthe second thermally insulated compartment.

The self-propelled delivery robot may further include a transferassembly, the transfer assembly which selectively, operably transfersselected food items between the first thermally insulated compartmentand the second thermally insulated compartment.

The transfer assembly may be comprised of a robotic arm, the robotic armwhich is positionable relative to the first thermally insulatedcompartment and the second thermally insulated compartment to transferfood items there between. The first thermally insulated compartment mayinclude a heater positioned to heat the first interior of the firstthermally insulated compartment. The heater may include at least oneelectrically resistive heating element. The heater may be operable toraise a temperature in the first interior to between 140° F. and 250° F.to warm an already cooked item of food stored in the first thermallyinsulated compartment. The second thermally insulated compartment mayinclude a cooler positioned to cool the second interior of the secondthermally insulated compartment. The cooler may include a refrigerantcarrying coil.

The self-propelled delivery robot may further include a set of doorsincluding a first door associated with the first thermally insulatedcompartment and a second door associate with the second thermallyinsulated compartment, wherein each door may be respectively moveablebetween a closed configuration in which the door prevents access to theinterior of the associated thermally insulated compartment and an openconfiguration in which the door provides access to the interior of theassociated thermally insulated compartment.

The first door may include a first selectively lockable door thatprovides access to at least the first thermally insulatedsub-compartment, and the second door may include a second selectivelylockable door that provides access to at least the second thermallyinsulated sub-compartment. The first selectively lockable door mayselectively unlock responsive to a signal received from a controllernetwork located remotely from the self-propelled delivery robot, andwherein the second lockable door may selectively unlock responsive to asignal received from a controller network located remotely from theself-propelled delivery robot.

The self-propelled delivery robot may further include: at least oneantenna, and at least one radio communicatively coupled to the antenna,wherein the at least one processor may include a near fieldcommunications processor communicatively coupled to the radio to receivenear field communications signals via the antenna, at least one of thefirst selectively lockable door and the second selectively lockable doorwhich selectively unlocks responsive to a near field communicationsignal received via the antenna, the near field communication signalwhich confirms that a device or a person logically associated with thefood item in the respective first thermally insulated compartment or thesecond thermally insulated compartment is proximate the self-propelleddelivery robot.

The self-propelled delivery robot may further include a biometric inputsubsystem that generates a signal based upon one or more biometricfeature of a person, wherein one of the first selectively lockable doorand the second selectively lockable door may selectively unlockresponsive to signal generated from the biometric input scanner.

The self-propelled delivery robot may be one in which the propulsionsubsystem includes at least one of a set of wheels or a set of treads.

The self-propelled delivery robot may be one in which the propulsionsubsystem includes one or more rotors.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

In the drawings, identical reference numbers identify similar elementsor acts. The sizes and relative positions of elements in the drawingsare not necessarily drawn to scale. For example, the shapes of variouselements and angles are not drawn to scale, and some of these elementsare arbitrarily enlarged and positioned to improve drawing legibility.Further, the particular shapes of the elements as drawn, are notintended to convey any information regarding the actual shape of theparticular elements, and have been solely selected for ease ofrecognition in the drawings.

FIG. 1 is a front, top, right isometric view of a vending kiosk thatincludes a plurality of doors that each provides access to at least onecompartment, according to at least one illustrated implementation.

FIG. 2A is a front, top, right isometric view of an interior of acompartment in a vending kiosk, according to at least one illustratedimplementation.

FIG. 2B is a front, top, left isometric view of the interior of thecompartment in the vending kiosk shown in FIG. 2A, according to at leastone illustrated implementation.

FIG. 3 is a schematic diagram of a vending kiosk-based network thatincludes a vending kiosk, a purchasing kiosk, and a mobile device,according to one illustrated implementation.

FIG. 4A is front, top, right isometric view of a self-propelled vendingkiosk including wheels or optional treads, according to at least oneillustrated implementation.

FIG. 4B is a bottom plan view of the self-propelled vending kiosk ofFIG. 4A, according to at least one illustrated implementation.

FIG. 5A is a front, top, right isometric view of a locker system thatincludes a plurality of doors in which two or more of the doors may beselectively coupled to move in a coupled configuration, or selectivelyuncoupled to move in an uncoupled configuration or to change an axis ofrotation about which one or more of the doors pivot between closed andopened configurations, according to one illustrated implementation.

FIG. 5B is a front, top, right isometric view of the locker system ofFIG. 5A in which one of the doors is selectively coupled and uncoupledin one configuration to pivot about a respective left-side hinge, thedoor shown in an open configuration, according to one illustratedimplementation.

FIG. 5C is a front, top, right isometric view of the locker system ofFIG. 5A in which one of the doors is selectively coupled and uncoupledin one configuration to pivot about a respective right-side hinge, thedoor shown in an open configuration, according to at least oneillustrated implementation.

FIG. 5D is a front, top, right isometric view of the locker system ofFIG. 5A in which four of the doors are selectively coupled and uncoupledin one configuration to pivot together about a respective right-sidehinge, the coupled set of doors shown in an open configuration,according to at least one illustrated implementation.

FIG. 6A is a side elevational view of a selectively coupleable hingethat is coupled to a portion of a locker system and to a door, accordingto at least one illustrated implementation.

FIG. 6B is a top plan view of the selectively coupleable hinge of FIG.6A, according to at least on illustrated implementation.

FIG. 7A is a front perspective view of a locker system having aninterior that includes a set of configurable compartments arranged in afirst exemplary arrangement, according to at least one illustratedimplementation.

FIG. 7B is a front perspective view of the locker system of FIG. 7A inwhich the configurable compartments are arranged in a second exemplaryarrangement, according to at least one illustrated implementation.

FIG. 7C is a front perspective view of a lock system in which theconfigurable compartments may be selectively, manually configured,according to at least one illustrated implementation.

FIG. 8A is top, right, front isometric view of a self-propelled deliveryrobot that includes two thermally insulated compartments each accessiblevia a respective door, according to at least one illustratedimplementation.

FIG. 8B is bottom plan view of the self-propelled delivery robot of FIG.8A, according to at least one illustrated implementation.

FIG. 8C is schematic view of an interior portion of the self-propelleddelivery robot of FIG. 8A, according to at least one illustratedimplementation.

FIG. 9 is a front, top, right isometric view of a self-propelleddelivery robot that is an aerial delivery drone, according to at leastone illustrated implementation.

FIG. 10 is a schematic block diagram of a control system, according toat least one illustrated implementation.

FIG. 11 is a logic flow diagram of a method of implementing atemperature control schedule, according to at least one illustratedimplementation.

FIG. 12 is a logic flow diagram of a method of coupling multiple doorsinto a single door, according to at least one illustratedimplementation.

FIG. 13 is a logic flow diagram of a method of configuring aconfigurable compartment using one or more of the selectively movableshelves and/or the selectively movable walls, according to at least oneillustrated implementation.

FIG. 14 is a logic flow diagram of a method that may be used to pay forand retrieve an item located in a vending kiosk, according to at leastone illustrated implementation.

DETAILED DESCRIPTION

In the following description, certain specific details are set forth inorder to provide a thorough understanding of various disclosedembodiments. However, one skilled in the relevant art will recognizethat embodiments may be practiced without one or more of these specificdetails, or with other methods, components, materials, etc. In otherinstances, certain structures associated with food preparation devicesor appliances such as ovens, skillets, stoves with burners, inductiveheaters, micro-wave ovens, rice cookers, and, or sous vide cookers, andother similar devices, closed-loop controllers used to control cookingconditions, food preparation techniques, wired and wirelesscommunications protocols, wired and wireless transceivers, radios,communications ports, geolocation, and optimized route mappingalgorithms have not been shown or described in detail to avoidunnecessarily obscuring descriptions of the embodiments. In otherinstances, certain structures associated with conveyors, robots, and/orvehicles have not been shown or described in detail to avoidunnecessarily obscuring descriptions of the embodiments.

Unless the context requires otherwise, throughout the specification andclaims which follow, the word “comprise” and variations thereof, suchas, “comprises” and “comprising” are to be construed in an open,inclusive sense, that is as “including, but not limited to.”

Reference throughout this specification to “one embodiment” or “anembodiment” means that a particular feature, structure or characteristicdescribed in connection with the embodiment is included in at least oneembodiment. Thus, the appearances of the phrases “in one embodiment” or“in an embodiment” in various places throughout this specification arenot necessarily all referring to the same embodiment. Furthermore, theparticular features, structures, or characteristics may be combined inany suitable manner in one or more embodiments.

As used in this specification and the appended claims, the singularforms “a,” “an,” and “the” include plural referents unless the contentclearly dictates otherwise. It should also be noted that the term “or”is generally employed in its sense including “and/or” unless the contentclearly dictates otherwise.

The headings and Abstract of the Disclosure provided herein are forconvenience only and do not interpret the scope or meaning of theembodiments.

As used herein the terms “food item” and “food product” refer to anyitem or product intended for human consumption. Although illustrated anddescribed herein in the context of pizza to provide a readilycomprehensible and easily understood description of one illustrativeembodiment, one of ordinary skill in the culinary arts and foodpreparation will readily appreciate the broad applicability of thesystems, methods, and apparatuses described herein across any number ofprepared food items or products, including cooked and uncooked fooditems or products, and ingredients or components of food items andproducts.

As used herein the terms “robot” or “robotic” may refer to any device,system, or combination of systems and devices that includes at least oneappendage, typically with an end of arm tool or end effector, where theat least one appendage is selectively moveable to perform work or anoperation useful in the preparation a food item or packaging of a fooditem or food product. The robot may be autonomously controlled, forinstance based at least in part on information from one or more sensors(e.g., optical sensors used with machine-vision algorithms, positionencoders, temperature sensors, moisture or humidity sensors).Alternatively, one or more robots can be remotely controlled by a humanoperator. Alternatively, one or more robots can be partially remotelycontrolled by a human operator and partially autonomously controlled. Asused herein, the terms “robot” or “robotic” may refer to any autonomousand/or semi-autonomous machine which is capable of carrying out definedphysical action, for instance a machine with at least one jointedappendage that is movable with respect to an operational environment, orany autonomous and/or semi-autonomous vehicles that is movable withrespect to an operational environment.

As used herein the term “food preparation unit” refers to any device,system, or combination of systems and devices useful in preparing,cooking or heating a food product, such as, for example, cooking units.While such preparation may include the heating of food products duringpreparation, such preparation may also include the partial or completecooking of one or more food products. Additionally, while the term“oven” may be used interchangeably with the term “cooking unit” herein,such usage should not limit the applicability of the systems and methodsdescribed herein to only foods which can be prepared in an oven. Forexample, one or more burners, either gas or electric or inductive, a hotskillet surface or griddle, a deep fryer, a microwave oven, rice cooker,sous vide cooker, and/or toaster can be considered a “cooking unit” thatis included within the scope of the systems, methods, and apparatusesdescribed herein. Food preparation units may include other types ofequipment used to prepare food items, such as equipment related tocooled or chilled foods, such as may be used to prepare smoothies,frozen yogurt, ice cream, and beverages (e.g., fountain beverages).Further, the food preparation unit may be able to control more thantemperature. For example, some food preparation units may controlpressure and/or humidity. Further, some food preparation units maycontrol airflow therein, thus able to operate in a convective cookingmode if desired, for instance to decrease cooking time.

As used herein the term “vehicle” refers to any car, truck, van, orother vehicle, including any autonomous and/or semi-autonomous vehicle,useful in cooking and heating a food item for distribution to acustomer. The size and shape of the vehicle may depend in part onlicensing requirements of the locality in which the vehicle is intendedto operate. In some instances, the size and shape of the vehicle maydepend on the street layout and the surrounding environment of thelocality in which the vehicle is intended to operate. For example,small, tight city streets may require a vehicle that is comparativelyshorter and/or narrower than a vehicle that can safely and convenientlynavigate larger, suburban thoroughfares. Such vehicles may includedrones, including land-based, flying, water-borne (by surface orsubmersible), and/or amphibious drones.

FIG. 1 shows a vending kiosk 100 according to at least one illustratedimplementation. The vending kiosk 100 includes a housing, frame or outershell 106 that is divided into a plurality of compartments 104 (only onevisible in FIG. 1), each of the compartments having a respective opening136, the vending kiosk 100 having a plurality doors 102 (only threecalled out in FIG. 1) that selectively provide access to interiors 134(only one visible in FIG. 1) of the compartments 104 from an exterior110 of the vending kiosk 100 via the openings 136.

The housing, frame or outer shell 106 of the vending kiosk 100 mayinclude one or more exterior surfaces 108 that at least partiallysurrounds the compartments 104. In some implementations the exteriorsurface(s) 108 separate the plurality of compartments 104 from theexterior 110 of the vending kiosk 100. In some implementations, thehousing, frame or outer shell 106 may include one or more customerfacing or “front” walls or faces 112 to which one or more of theplurality of doors 102 are rotatably coupled. While illustrated with onecustomer facing or “front” wall or face, some implementations mayinclude customer facing or “front” walls or faces with respective arraysof doors on two, more or all sides or faces of the vending kiosk 100.Further, while illustrated as substantially rectangular, the vendingkiosk 100 can have other shapes, for instance a pentagonal, hexagonal,or octagonal top plan view profile, with doors distributed across one,more or all vertically extending sides or faces of the vending kiosk.Even further, some implementations the vending kiosk 100 may includecustomer facing or “front” walls or faces with respective arrays ofdoors on a top or upper face of the vending kiosk, similar in somerespect to “deep” or “chest” freezers.

In some implementations, for example, all of the plurality of doors 102may be rotatably coupled to the same customer facing wall or face 112 orto a plurality of customer facing walls or faces 112 or a frame whichforms a portion of the walls or to which the walls are coupled orattached. In some implementations, a subset of the plurality of doors102 may be rotatably coupled to a first customer facing wall or face112, whereas the remaining plurality of doors 102 are rotatably coupledto a second customer facing wall or face 112 of the same vending kiosk.In some implementations, for example, the plurality of doors 102 may berotatably coupled to two or more customer facing walls or faces 112 toincrease the space at which customers may retrieve orders, and therebyimprove the comfort and safety of the customers. In someimplementations, some or all of the plurality of doors 102 may berotatably coupled to another portion of the outer shell 106, such as,for example, along an upper surface 114. Locating some or all of thedoors 102 along the upper surface 114 may be useful, for example, in a“deep” or “chest” freezer implementation in which customers may reachdown into the compartments 104 to retrieve items.

To be clear, the doors 102 can be attached or coupled to a frame orskeleton of the vending kiosk 100. The frame or skeleton may form aportion of one or more walls, for example the customer facing walls orfaces 112, and, or other walls (e.g., side walls without doors). Forexample, in some implementations, the vending kiosk 100 includes a frameor skeleton formed from a set of structural members, for instancetrusses, I-beams, angle iron or angle steel. The vending kiosk 100 mayinclude a number of skin or wall panels, coupled to the structuralmembers. For instance, the vending kiosk 100 may include a floor or baseskin or wall panel, a ceiling or top skin or wall panel, one or moreside skin or wall panels, one or more customer facing panels (e.g.,customer facing front skin or wall panel). Notably, doors 102 can bepositioned on more than one side or face of the vending kiosk 100, forinstance in a “front” skin or wall panel and a “back” skin or wallpanel, or in three skin or wall panels, or even four or more skin orwall panels (e.g., hexagonal footprint, octagonal footprint). Doors caneven be positioned in the ceiling or top skin or wall panel. The skin orwall panels can, for example, comprise respective sheets of material,e.g., steel, aluminum, sheet metal, plastic, which are fastened (e.g.,riveted, welded, screwed) to the frame or skeleton. One or more sides orfaces of the vending kiosk 100 include a set of openings and doors 102that allow customers to access the compartments 104. The sides, faces,or skin or wall panels which include the doors 102 are customer facingwalls, faces or sides. Those doors 102 can, for example, be pivotallycoupled to either the frame or skeleton, or to the skin or wall panels,for example via one or more hinges, and, or via one or more magneticcouplers (e.g., permanent magnets, electromagnets, ferrous metals).

Each of the doors 102 may be rotatably coupled to the housing, frame orouter shell 106 of the vending kiosk 100 via one or more hinges 116.Such hinges 116 may be attached along, or proximate to, a portion of thehousing, frame or outer shell 106. The hinges 116 provide an axis ofrotation 118 that extends in a substantially vertical direction and isparallel to the corresponding customer facing wall or face 112 in whichthe door is located. Alternatively or additionally, the hinges 116provide an axis of rotation 118 that extends in a substantiallyhorizontal direction and is parallel to the corresponding customerfacing wall 112 or face in which the door is located. The door 102 mayrotate between an open configuration 120 in which the door 102 providesaccess to one or more of the compartments 104 in the vending kiosk 100,and a closed configuration 122 in which the door prevents access to oneor more of the compartments 104. In some implementations, the doors 102or the hinges 116 that rotatably couple the door 102 to the housing,frame or outer shell 106 may be biased to maintain the door 102 in oneof the open configuration 120 or the closed configuration 122. In suchan implementation, for example, one or more of the hinges 116 may be atorsional hinge that may exert a rotational force on the associated door102 in an inward or an outward direction. Additionally or alternatively,one or more springs or magnets and/or pieces of ferrous metals may bepositioned to bias the doors 102 into the open or the closedconfigurations.

Each door 102 may include an exterior surface 124 and an interiorsurface 126 that are separated by a width of a door edge 128. In someimplementations, the door 102 or a portion thereof may be comprised of athermally insulative material that may be used to reduce a transfer ofheat between the interior 134 of the compartment 104 and the exterior110 of the vending kiosk 100 or reduce a transfer of heat between theinterior 134 of one compartment 104 and the interior 134 of otherneighboring compartments 104, and thereby assist in maintaining adesired temperature within the compartment 104. Some implementations mayinclude one or more gaskets comprised of rubber or some othercompressible elastomer positioned to sealingly engage between the doorand a portion of the housing, frame or outer shell 106 when the door 102is in the closed configuration 122, to provide additional thermalinsulation for the compartment 104. For example, a respective siliconegasket can be attached to the housing, frame or outer shell surroundingan opening 136 of each compartment. Alternatively, or additionally, arespective silicone gasket can be attached to the door for eachcompartment.

Each door 102 may include one or more handles 130 that may be used tofacilitate the opening or closing of each respective door 102. In someimplementations, each door 102 may include one or more actuators 132that may be used to selectively lock the door 102 in the closedconfiguration 122 and to selectively unlock the door 102 such that thedoor may move from the closed configuration 122 to the openconfiguration 120, thereby providing access to at least one of thecompartments 104. Such an actuator 132 may include, for example, one ormore of a solenoid, a piston and associated cylinder, a plurality ofmagnets, including at least one of which is an electromagnet, and/or anelectromagnet paired with a ferrous metal. In some implementations, theactuator 132 may be responsive to one or more actuator control signalstransmitted from one or more processors, as discussed below, to lockand/or unlock the associated door 102. In some implementations, forexample, the actuator 132 may receive a signal to unlock the associateddoor 102 based upon one or more of a purchase transaction occurringproximate the vending kiosk 100 and/or receipt of information indicatingthe presence of a person or object proximate the vending kiosk 100 inwhich the person or object is logically associated with a previouspurchase transaction. In some implementations, the door 102 may bemanually moveable between the open configuration 120 and the closedconfiguration 122 when the door is unlocked. In some implementations,the actuator 132 and/or a different actuator may be used to move thedoor 102 from an open configuration to a closed configuration, from aclosed configuration to an open configuration, or between an openconfiguration and a closed configuration.

Consequently, i) an actuator can control a latch or lock; ii) the sameactuator that controls a latch or lock can move the door from the closedconfiguration to the open configuration, iii) a separate actuator fromthe actuator that controls a latch or lock can move the door from theclosed configuration to the open configuration; iv) the same actuatorthat controls a latch or lock can move the door from the openconfiguration to the closed configuration; v) a separate actuator fromthe actuator that controls a latch or lock can move the door from theopen configuration to the closed configuration; vi) the same or aseparate actuator can move the door from the open to closedconfiguration; vi) the same actuator that moves the door from the openconfiguration to the closed configuration may also move the door fromthe closed configuration to the open configuration; vii) the differentactuator from the one that moves the door from the open configuration tothe closed configuration may move the door from the closed configurationto the open configuration.

As noted above, the compartments 104 may include interiors 134 that maybe accessible via one or more openings 136. The openings 136 may be usedto place items into or retrieve items from the associated compartment104. In some implementations, each of the compartments 104 in thevending kiosk 100 may be aligned with a respective door 102 in theplurality of doors 102. In such an implementation, moving each door 102from the closed configuration 122 to the open configuration 120 mayprovide access to the associated compartment 104 that is aligned witheach respective door 102. In some implementations, multiple doors 102may be coupled together and opened to provide access to one compartment104. Such an implementation may be used, for example, when one or moreof the compartments 104 have been enlarged. The interior 134 of eachcompartment 104 may have dimensions that include a length 138, a depth140, and a height 142 that may be delineated by an interior surface 144of the compartment 104 along with the interior surface 126 of the door102 when the door 102 is in the closed configuration 122. The dimensionsof the interior 134 of the compartment 104 may be sized and shaped tohold one or more items, such as food items and/or food item containers,to be retrieved through the opening 136 associated with the compartment104.

In some implementations, each door 102 may be aligned with a separatecompartment 104. As such, the interiors 134 of each compartment 104 maybe delineated from one another by the respective interior walls orsurfaces 144 of each compartment 104. In some implementations, therespective interior walls or surfaces 144 of adjacent compartments 104may include a thermal insulation 146, as shown in the partial cut-awayin FIG. 1, such that each compartment 104 may be thermally insulatedfrom each adjacent compartment 104. In some implementations, the thermalinsulation 146 may extend from the interior surface 144 of onecompartment 104 to the interior surface 144 of a second, adjacentcompartment 104. In such an implementation, each respective compartment104 may be maintained at a different temperature with little to nothermodynamic interaction between adjacent compartments 104. In someimplementations, as discussed below, each individual compartment 104 mayinclude one or more of a heating system and/or a cooling system that maybe used to control the temperature within the interior 134 of therespective individual compartment 104.

In some implementations, the vending kiosk 100 may include a user inputsubsystem 148 and/or an on-board vending kiosk control system 166. Theuser input subsystem 148 may be used to collect information related to avendable item, such as a food item, stored within one of thecompartments 104 of the vending kiosk 100. In some implementations, forexample, the user input subsystem 148 may include one or more of amagnetic stripe reader 150, a near field communications (NFC) reader, acurrency acceptor and validator, a keypad 152, a touchscreen 154, animage capture device 156, and/or a biometric capture device 160. In someimplementations, the magnetic stripe reader 150 may be used to read andcollect information that has been encoded within a financial transactioncard 158 using, for example, a magnetic stripe, a card chip, or someother type of storage medium. The magnetic stripe reader 150 may becommunicatively coupled to one or more processors that may authorize arequested purchase transaction based upon information stored withinand/or associated with the financial transaction card 158. Such one ormore processors may be located locally at the vending kiosk 100 and/orremotely from the vending kiosk 100 at one or more processor-enableddevices that may be communicatively coupled to the vending kiosk 100 viaa communications network.

The keypad 152 and/or touchscreen 154 may be used to enter informationrelated to an item stored within one or more of the compartments 104. Insuch an implementation, for example, the keypad 152 and/or touchscreen154 may be used to enter a key code that may associated with a previouspurchase transaction and/or order to be retrieved from one of thecompartments 104. In some implementations, the key code may include anorder identifier that may be associated with a previous purchasetransaction and may be comprised of a unique code that is associatedwith an order to be retrieved from the vending kiosk 100. In someimplementations, the order identifier may be a randomly generatedidentifier that is not related to the order identifiers associated withother items being stored within the vending kiosk 100. Such a randomlygenerated identifier may be used, for example, to prevent orders frombeing stolen, and to reduce the possibility that an order entry that hasbeen mis-entered will nonetheless open the door 102 to a compartment 104associated with another order. In some implementations, the key code mayadditionally or alternatively include a customer identifier that may beassociated with the customer who will be retrieving the order from thevending kiosk 100. In some implementations, the touchscreen 154 may beused to display information identifying the appropriate door 102 fromwhich a consumer can retrieve an order from the vending kiosk 100.

The image capture device 156 may include, for example, a video camera ora still-image camera that may be used to capture images. In someimplementations, such images may include, for example, machine-readablesymbols that may be displayed within a field-of-vision of the imagecapture device 156. Such machine-readable symbols may include, forexample, barcode symbols, and/or Quick Response code symbols. In such animplementation, the machine-readable symbols may be affixed to aphysical object (e.g., printed on a piece of paper) and/or may berendered on a changeable display. For example, in some implementations,the machine-readable symbol may be electronically transmitted to aportable device via, for example, an email and/or text to an addressassociated with the consumer, to be rendered on a display of theportable device within the field-of-vision of the image capture device156. The image capture device 156 in such an implementation may transmitthe captured image of the machine-readable symbol to a processor-enableddevice to decode the information contained within the machine-readablesymbol. In response, the processor-enabled device may transmit one ormore signals that may result in the appropriate door 102 in the vendingkiosk 100 being unlocked for the consumer.

The biometric capture device 160 and associated software may be used toidentify consumers based upon one or more physical characteristics. Thebiometric capture device 160 and associated software may be used toidentify consumers based upon, for example, one or more of fingerprints,facial features, eye feature, vocal characteristics, and/or any otherunique physical characteristic of the consumer. In some implementations,such software may be implemented by one or more processor-enableddevices, including processor-enabled devices that may be communicativelycoupled to the vending kiosk 100 via a communications network. Once thebiometric capture device 160 and associated software has identified theconsumer, the processor-enable device may transmit one or more signalsthat may result in the appropriate door 102 in the vending kiosk 100being unlocked for the consumer.

The vending kiosk 100 may include an antenna 162 that may becommunicatively coupled to a radio 164 in which the antenna 162 andradio 164 may be used to provide wireless communication capabilities forthe vending kiosk 100. In some implementations, for example, the antenna162 and radio 164 may be used to communicate using wirelesscommunications protocols, such as protocols for wireless local areanetworks (e.g., WIFI®, IEEE 802.11, WiMAX, IEEE 802.116, VoIP, and thelike) or protocols for wireless peer-to-peer communications (e.g.,Bluetooth®, Bluetooth® Low Energy, and the like).

In some implementations, the antenna 162 and radio 164 may be used towirelessly communicate with objects or devices that are proximate thevending kiosk 100. For example, in some implementations, the antenna 162and radio 164 may be used to provide near field communication (NFC)capabilities and/or radio frequency identification (RFID) capabilitieswith device and objects proximate the vending kiosk 100. Such device mayinclude wireless devices associated with consumers who have authorizedpurchase transaction, or may wish to authorize purchase transaction, foritems contained with the vending kiosk 100. In such implementations, thewireless device of the consumer may be with four (4) inches of theantenna for the antenna to receive NFC signals and/or within nine (9)feet of the antenna for the antenna to receive RFID signals. Such NFCsignals and/or RFID signals may be used to encode information toauthorize a purchase transaction and/or to confirm that a person ordevice logically associated with a previous purchase transaction isproximate the vending kiosk 100. The antenna 162 may be communicativelycoupled to a processor-enabled device that may decode the informationcontained with the NFC signal and/or RFID signal, and use the decodedinformation to provide such authorization and/or confirmation. Upondetermining such authorization and/or confirmation, theprocessor-enabled device may transmit one or more actuator controlsignals to unlock the appropriate door 102 on the vending kiosk 100 sothat the consumer may retrieve the purchased item from the associatedcompartment 104.

The on-board vending kiosk control system 166 may take the form of anycurrent or future developed processor-enabled device capable ofexecuting one or more instruction sets. The on-board vending kioskcontrol system 166 may include one or more processing units to executeone or more processor-readable instructions, instruction sets, orinstruction blocks. The on-board vending kiosk control system 166 mayinclude a system memory to store one or more processor-readableinstructions, instruction sets, or instruction blocks to be executed bythe processor. Such processor-readable instructions, instruction sets,or instruction blocks may be used to generate one or more controlsignals that may be used to control the various components of thevending kiosk 100, such as the actuators 132. In some implementations,the processor-readable instructions, instruction sets, or instructionblocks may control the operation of various subsystems or components onthe vending kiosk, such as various components of the user inputsubsystem 148. In some implementations, the on-board vending kioskcontrol system 166 may be used to communicate using one or more usingwireless communications protocols via the antenna 162 and radio 164. Insome implementation, some or all of the processor-readable instructions,instruction sets, or instruction blocks may be executed by an off-boardprocessor-enabled device. In such an implementation, the resultingcontrol signals may be transmitted to the vending kiosk via acommunication network.

FIGS. 2A and 2B show different isometric views of the interior 134 ofone compartment 104 in the vending kiosk 100, according to at least oneillustrated implementation. A container 200, such as a container thatmay hold one or more food items, is supported in the compartment 104,for instance resting one a bottom surface 202 of the compartment 104.The interior 134 of the compartment 104 may include one or more sidewalls 204 and an upper surface 206. The bottom surface 202, the one ormore side walls 204, and the upper surface 206 may comprise the interiorsurfaces 144 of the compartment 104.

The compartment 104 may include a heater 208 that may be used toincrease the temperature of the interior 134 of the compartment 104 to aheated state. The heater 208 may include one or more of an electricallyresistive heating element, a natural gas burner, a propane burner,and/or an inductive heating element. In some implementations, the heater208 may be positioned, for example, along a side wall 204 that isopposite the opening 136 to the compartment 104. In such animplementation, the heater 208 may include a heater opening 212 throughwhich heat may be introduced to the interior 134 of the compartment 104.Alternatively, one or more walls of the compartments may includethermally radiant elements (e.g., electrically resistive conduitscarrying heated fluid). In some implementations, a fan may be used todirect heated air into the interior 134 of the compartment 104 throughthe heater opening 212 or to otherwise circulate heated air throughoutthe compartment 104.

In some implementations, each compartment 104 in the vending kiosk 100may include a separate heater 208, such that the vending kiosk 100includes a plurality of heaters 208. In such implementations, at leastone of the plurality of heaters 208 may include an electricallyresistive heating element. In some implementations, the heated stateprovided by the heater 208 may include a cooking state in which theheater 208 may raise the temperature in the compartment 104 to at least325° F. to cook an item of food stored in the compartment. In someimplementations, the heated state provided by the heater 208 may includea heating state in which the heater 208 may be operable to raise thetemperature in the compartment 104 to between 140° F. and 250° F. towarm an already cooked item of food stored in the interior 134 of thecompartment 104. In some implementations, the heater 208 may be operabletransition between the cooking state and the warming state based uponone or more signals, such as signals that may be transmitted by aprocessor-enabled device. In such implementations, for example, theheater 208 may transition from the cooking state to the warming state inresponse to a food item being fully cooked, such that the fully cookedfood item may be maintained at a warm, elevated temperature until thefood item is retrieved.

In some implementations, the compartment 104 may include a cooler 210that may be used to decrease the temperature of the interior 134 of thecompartment 104. The cooler 210 may include one or more of a refrigerantcarrying coil and compressor, a Peltier device, or thermoelectriccooler. In some implementations, the cooler 210 may be positioned, forexample, along one of the side walls 204 of the compartment 104. In suchan implementation, the cooler 210 may include a cooler opening 216through which cooled, refrigerated air may be introduced to the interior134 of the compartment 104 to thereby lower the temperature of theinterior 134 of the compartment 104 in a refrigerated state. In someimplementations, a fan may be used to direct the refrigerated air intothe interior 134 of the compartment 104. One or more Peltier devices canadvantageously be used for both cooling and heating.

In some implementations, each compartment 104 in the vending kiosk 100may include a separate cooler 210, such that the vending kiosk 100includes a plurality of coolers 210. In such implementations, at leastone of the plurality of coolers 210 may include a refrigerant carryingcoil. In some implementations, the refrigerated state provided by thecooler 210 may lower the temperature within the interior 134 of thecompartment 104 to at or below 41° F. to cool an item of food stored inthe compartment. In some implementations, one compartment 104 mayinclude a heater 208 and a cooler 210 that may be operable to transitionbetween the refrigerated state, the warming state, and the cookingstate. In such implementations, for example, the cooler 210 may maintaina food item at a lower temperature (e.g., at or below 41° F.) until anorder for the food item is received, and/or a signal to begin cookingthe food item is received. At that point, the cooler 210 may stopproviding refrigerated air to the interior 134 of the compartment 104.At or about the same time, the heater 208 may transition to the cookingstate to cook the food item held within the interior 134 of thecompartment until the food item is cooked. When the food item is cooked,the heater 208 may transition from the cooking state to the warmingstate to keep the food item warm until the food item is retrieved fromthe compartment 104.

The compartments 104 may optionally include a stone floor or cast ironfloor. In some implementations, the compartments 104 may includeelectrically radiant elements. In some implementations, compartments 104may include one or more Peltier thermoelectric heater/coolers. In someimplementations, the compartments 104 take the form of air impingementovens, including one or more blowers that blow extremely hot air, andoptionally a rack with a manifold. In some implementations, thecompartments 104 may include a thermally insulative barrier, preferablya Yttrium, Indium, Manganese, and Oxygen (YInMn) barrier.

In some implementations, a processor enabled device or component (e.g.,the on-board vending kiosk control system 166) may be used to implementa temperature control schedule to be used to control the temperaturestate within one or more of the compartments 104 in the vending kiosk100. Such temperature states may specify, for example, that the heater208 heat the compartment 104 to a cooking state to cook a food item, andthen transition to a warming state to keep the cooked food item warm. Insome implementations, the temperature control schedule may specify thatthe compartment be kept in a refrigerated state by the cooler 210 for afirst time period, and then specify that the compartment be kept in acooking state by the heater 208 for a second time period in order tocompletely cook the food item. In some implementations, the temperaturecontrol schedule may be based at least in part on an estimated pick-uptime at which an end user will be arriving to pick-up the food itembeing cooked. As such, the temperature control schedule may be set tominimize the amount of time that elapses after the food item iscompletely cooked and the expected time at which the end user willarrive to retrieve the item. In some implementations, the temperaturecontrol schedule may be modified based upon an updated expected arrivaland pick-up time for the end user. In some implementations, thetemperature control schedule may be used to transition the compartment104 between one or more of the refrigerated state, the cooking state,and the warming state.

In some implementations, the vending kiosk 100 may include one or moreactuators, such as a locking actuator 218 a, a door rotating actuator218 b, and a magnetic actuator 218 c (collectively, “actuators 218”).Such actuators 218 may be comprised of one or more of a solenoid, apiston and cylinder (e.g., hydraulic, pneumatic), a pair of magnetsincluding at least one electromagnet, or a pair of an electromagnet anda ferrous metal, for example. In some implementations, one or more ofthe locking actuator 218 a, the rotating actuator 218 b, and/or amagnetic actuator 218 c may be included in the same structure and/or beimplemented by the same actuator.

In some implementations, the locking actuator 218 a may include a latchcomponent 220 that may be comprised of a housing 222 and a selectivelyextendable latch 224 that may be used to lock and unlock the doors 102.In some implementations, the selectively extendable latch 224 may beselectively contained within the housing 222 in a retracted state andselectively extended from one end of the housing 222 in an extendedstate. In some implementations, the selectively extendable latch 224 maybe selectively extended from the housing 222 when the door 102 is in theclosed configuration 122 to thereby secure the door in a locked state inthe closed configuration 122. In some implementations, the selectivelyextendable latch 224 may engage with an associated strikeplate 226 thatis installed along a portion of the side wall 204 of the correspondingcompartment 104 when the selectively extendable latch 224 is in theextended state and the door 102 is in the locked state in the closedconfiguration 122.

In some implementations, the selectively extendable latch 224 maytransition between the extended state and the retracted state responsiveto an actuator signal that may be received, for example, by the latchcomponent 220 from a processor-enabled device or component. In someimplementations, for example, the selectively extendable latch 224 maytransition to the retracted state when such an actuator signal isreceived. In such implementations, the selectively extendable latch 224may default to the extended state in the absence of such an actuatorsignal. In some implementations, the selectively extendable latch 224may include a beveled edge that faces the opening 136 of the compartment104. Such a beveled edge may facilitate the selectively extendable latch224 retracting into the housing 222 sufficiently for the door 102 totransition to the closed configuration 122, at which point theselectively extendable latch 224 may transition to the extended stateand engage with the strikeplate 226 when the selectively extendablelatch 224 and the strikeplate 226 align.

In some implementations, the door-rotating actuator 218 b may bephysically coupled to the door 102 and/or to the compartment 104 via afirst door-rotating actuator portion 228 and to a portion of thecompartment 104 via a second door-rotating actuator portion 230. In sucha configuration, the first door-rotating actuator portion 228 may beused to apply a rotational force to the door 102 to physically move thedoor 102 by rotating the door 102 about the axis of rotation 118,thereby transitioning the door 102 between an open configuration 120 anda closed configuration 122. In some implementations, the door-rotatingactuator 218 b may be responsive to an actuator signal received, forexample, from a processor enabled device or component to physically movethe door 102 to the open configuration 120 by applying an outwardrotational force to the door 102. In the absence of such an actuatorsignal, the first door-rotating actuator portion 228 may apply an inwardrotational force to the door 102 to thereby transition the door 102 tothe closed configuration 122.

The magnetic actuator 218 c may be used to apply a linear force on thedoor 102 to transition the door 102 between the open configuration 120and the closed configuration 122. In some implementations, the magneticactuator 218 c may include a housing 232 mounted along a side wall 204of the compartment 104 and/or the interior surface 126 of the door 102,and a pair of magnets, a first magnet 234 a mounted along the door 102(e.g., in the housing 232) and a second magnet 234 b mounted along theinterior surface 126 of the door 102. The first magnet 234 a and thesecond magnet 234 b may be aligned when the door 102 is in the closedconfiguration 122. In some implementations, the first magnet 234 a andthe second magnet 234 b may be of the same polarity such that the pairof magnets provides an outward rotational force on the door 102, therebybiasing the door 102 to the open configuration 120. In someimplementations, the first magnet 234 a and the second magnet 234 b maybe of opposite polarities such that the pair of magnets provides aninward rotational force on the door 102, thereby biasing the door 102 tothe closed configuration 122. In some implementations, at least one ofthe first magnet 234 a and the second magnet 234 b may be anelectromagnet that may be selectively activated, such as, for example,by an actuator signal received from a processor controlled device orcomponent. In such an implementation, the pair of magnets may provide arotational force when receiving such an actuator signal. In someimplementations, the first magnet 234 a and the second magnet 234 b maybe of opposite polarities such that the attractional force between themagnets may keep the door 102 in a closed and locked position. In suchan implementation, an electromagnet may be employed, along with acircuit that controls a magnetic attraction (e.g., ON/OFF; North/South)of the electromagnet. The electromagnet may be paired with, for examplea permanent magnet or a piece of ferrous metal, or anotherelectromagnet.

In some implementations, the magnetic actuator 218 c may include ahousing and a selectively extendable arm (not shown) in which theselectively extendable arm is selectively contained within the housingin a retracted state, and selectively extended from the housing in anextended state. In such an implementation, for example, the selectivelyextendable arm may be responsive to selectively extend and/or retractbased upon an actuator signal received from a processor-enabled deviceand/or component. For example, in some implementations, when theactuator signal is received, the selectively extendable arm maytransition to the extended state, thereby providing an outwardrotational force on the door 102 when the door 102 is in the closedconfiguration 122. Such an outward rotational force may be sufficient tophysically move the door 102 away from the closed configuration 122. Insome implementations, such movement may serve as a visual indication toa consumer of the compartment 104 that holds the item associated withthe consumer.

In some implementations, a processor-enabled device or component (e.g.,the on-board vending kiosk control system 166) may be used to controlthe operation of one or more of the heater 208, the cooler 210, thelocking actuator 218 a, the door-rotating actuator 218 b, and/or themagnetic actuator 218 c. The processor-enabled device may include one ormore processing units to execute one or more processor-readableinstructions, instruction sets, or instruction blocks. Theprocessor-enabled device may include a system memory to store one ormore processor-readable instructions, instruction sets, or instructionblocks to be executed by the processor. Such processor-readableinstructions, instruction sets, or instruction blocks may be used togenerate one or more control signals that may be used to control thevarious components of the vending kiosk 100, such as the actuators 218.In some implementations, the processor-readable instructions,instruction sets, or instruction blocks may control the operation ofvarious subsystems or components on the vending kiosk, such as heater208, and/or the cooler 210. In some implementation, some or all of theprocessor-readable instructions, instruction sets, or instruction blocksmay be executed by an off-board processor-enabled device. In such animplementation, the resulting control signals may be transmitted to thevending kiosk via a communication network.

FIG. 3 shows a wireless network 300 that includes a vending kiosk 100, apurchasing kiosk 302, a mobile device 304, and an off-board controlsystem 322 according to one illustrated implementation. In such animplementation, the vending kiosk 100 may include one or morecompartments 104 that contain items that may be purchased andsubsequently retrieved by consumers. The vending kiosk 100 may becommunicatively coupled with the purchasing kiosk 302 and the mobiledevice 304 via the antenna 162 and radio 164 that are included as partof the vending kiosk 100. The purchasing kiosk 302 may include apurchasing kiosk antenna 306 that the purchasing kiosk 302 may use towirelessly transmit signals to, and receive wirelessly transmittedsignals from, the antenna 162 on the vending kiosk. The mobile device304 may include one or more mobile device antenna 308 that the mobiledevice 304 may use to wirelessly transmit signals to, and receivewirelessly transmitted signals from, the antenna 162 on the vendingkiosk. The purchasing kiosk 302 and/or the mobile device 304 mayadvantageously be used to receive and/or authorize purchase transactionsat locations that are remote from the vending kiosk 100 from which thepurchased items are retrieved. Such an arrangement provides consumerswith the ability to place and authorize purchase transactions at theirconvenience, such as, for example, when the consumer is in transit tothe vending kiosk 100. Such an arrangement may be used for crowd controland management by separating the purchase transaction activities at thepurchasing kiosk 302 from the item retrieval activities at the vendingkiosk 100, thereby decreasing the number of consumers who may becongregating around the vending kiosk 100 at any given time.

In some implementations, one or more components in the wireless networkmay communicate using wireless communications protocols, such asprotocols for wireless local area networks (e.g., WIFI®, IEEE 802.11,WiMAX, IEEE 802.116, VoIP, and the like) or protocols for wirelesspeer-to-peer communications (e.g., Bluetooth®, Bluetooth® Low Energy,and the like). In some implementations, the devices such as the vendingkiosk 100, the purchasing kiosk 302, and/or the mobile device 304 maycommunicate via near field communication (NFC) and/or radio frequencyidentification (RFID).

In some implementations, the purchasing kiosk may include a user inputdevice 310 that may include one or more of a magnetic stripe reader 312,a keypad 314, a touchscreen 316, an image capture device 318, and/or abiometric capture device 320. In some implementations, the magneticstripe reader 312 may be used to read and collect information that hasbeen encoded within a financial transaction card using, for example, amagnetic stripe, a card chip, or some other type of storage medium. Themagnetic stripe reader 312 may be communicatively coupled to one or moreprocessors that may authorize a requested purchase transaction basedupon information stored within and/or associated with the financialtransaction card. Such one or more processors may be located locally atthe purchasing kiosk 302 and/or remotely from the purchasing kiosk 302at one or more processor-enabled devices, such as the off-board controlsystem 322, that may be communicatively coupled to the purchasing kiosk302 via a communications network 324.

The keypad 314 and/or touchscreen 316 may be used to enter informationrelated to an item stored within one or more of the compartments 104 inthe vending kiosk 100. In such an implementation, for example, thekeypad 314 and/or touchscreen 316 may be used to enter a key code thatmay associated with a previous purchase transaction and/or order to beretrieved from one of the compartments 104 in the vending kiosk 100. Insome implementations, the key code may include an order identifier thatmay be associated with a previous purchase transaction and may becomprised of a unique code that is associated with an order to beretrieved from the vending kiosk 100. In some implementations, the orderidentifier may be a randomly generated identifier that is not related tothe order identifiers associated with other items being stored withinthe vending kiosk 100. Such a randomly generated identifier may be used,for example, to prevent orders from being stolen, and to reduce thepossibility that an order entry that has been mis-entered willnonetheless open the door 102 to a compartment 104 associated withanother order. In some implementations, the key code may additionally oralternatively include a customer identifier that may be associated withthe customer who will be retrieving the order from the vending kiosk100. In some implementations, the touchscreen 316 may be used to displayinformation identifying the appropriate door 102 from which a consumercan retrieve an order from the vending kiosk 100.

The image capture device 318 may include, for example, a video camera ora still-image camera that may be used to capture images. In someimplementations, such images may include, for example, machine-readablesymbols that may be displayed within a field-of-vision of the imagecapture device 318. Such machine-readable symbols may include, forexample, bar codes and/or Quick Response codes. In such animplementation, the machine-readable symbols may be affixed to aphysical object (e.g., printed on a piece of paper) and/or may berendered on a changeable display. For example, in some implementations,the machine-readable symbol may be electronically transmitted to aportable device via, for example, an email and/or text to an addressassociated with the consumer, to be rendered on a display of theportable device within the field-of-vision of the image capture device318. The image capture device 318 in such an implementation may transmitthe captured image of the machine-readable symbol to a processor-enableddevice to decode the information contained within the machine-readablesymbol. Such a processor enabled device may be local to the purchasingkiosk 302 or located remotely from the purchasing kiosk 302. Inresponse, the processor-enabled device may transmit one or more signalsthat may result in the appropriate door 102 in the vending kiosk 100being unlocked for the consumer.

The biometric capture device 320 and associated software may be used toidentify consumers based upon one or more physical characteristics. Thebiometric capture device 320 and associated software may be used toidentify consumers based upon, for example, one or more of fingerprints,facial features, eye feature, vocal characteristics, and/or any otherunique physical characteristic of the consumer. In some implementations,such software may be implemented by one or more processor-enableddevices, including processor-enabled devices that may be communicativelycoupled to the purchasing kiosk 302 via a communications network. Oncethe biometric capture device 320 and associated software has identifiedthe consumer, the processor-enable device may transmit one or moresignals that may result in the appropriate door 102 in the vending kiosk100 being unlocked for the consumer.

The mobile device 304 may be used to enter purchasing information and toretrieve an item from one of the compartments 104 in the vending kiosk100. Such purchasing and retrieval via the mobile device 304 may befacilitated by a user application, or app, that is implemented on anddisplayed by the mobile device 304. In some implementations, theconsumer may use a software application (app) with an associated userinterface presented by the mobile device 304 to authorize a purchasetransaction for an item held in one of the compartments 104 in thevending kiosk 100. In some implementations, the app may be used todisplay pictures or other information related to the items stored in thevarious compartments 104 in the vending kiosk 100. In someimplementations, the app rendered by the mobile device 304 may be usedto display additional information to facilitate a purchase transactionby the consumer. For example, in some implementations, the app may beused to display or otherwise present information, such as locationinformation in the form of a map and/or address list, for multiplevending kiosks 100 located within the vicinity of the consumer. Suchinformation may also include the type of items currently available forpurchase from each of the different vending kiosks 100. Such an app mayenable the consumer to remotely authorize a purchase transaction foritems that may be retrieved from one of the various vending kiosks 100.The consumer may then travel to the appropriate vending kiosk 100without worrying that the item may have been sold out in during theinterim period while the consumer traveled to the vending kiosk 100.

In some implementations, the consumer may use the app rendered by themobile device 304 to retrieve items from the vending kiosk 100. In someimplementations, for example, the app may be used to produce amachine-readable symbol that may be detected by the vending kiosk 100.Such a machine-readable symbol may be in the form of a visual symbol(e.g., a bar code symbol or a Quick Response code symbol) that may bedetected by an image capture device at the vending kiosk 100. Such amachine-readable symbol may be contained within a wireless transmission,such as an NFC signal and/or an RFID signal, that may be received by theantenna 162 and radio 164 at the vending kiosk 100. Upon receiving andconfirming the machine-readable symbol, the vending kiosk may open theappropriate door 102 of the vending kiosk 100 to provide access to theitem to be retrieve from the associated compartment 104. In someimplementations, the app may be used to display information identifyingthe appropriate door 102 of the vending kiosk 100 upon confirming thepurchase transaction.

The off-board control system 322 may be communicatively coupled to thevending kiosk 100 via the communications network 324. In someimplementations, the off-board control system 322 may execute one ormore instructions from a purchase confirmation application to confirm apurchase transaction for one or more food items being held within thevending kiosk 100. Such purchase transactions may be initiated by one ormore of the purchasing kiosk 302 and/or the mobile device 304. Thepurchase confirmation application can be executed by one or morehardware circuits, for instance one or more processors and stored on oneor more associated nontransitory storage media, e.g., memory (e.g.,FLASH, RAM, ROM) and/or spinning media (e.g., spinning magnetic media,spinning optical media) that stores at least one of processor-executableinstructions or data. The off-board control system 322 maycommunicatively couple with the vending kiosk 100 to transmitinformation to confirm a purchase transaction. Some communications canemploy one or more proprietary communications channels, for instance aproprietary network communications channel like a proprietary Local AreaNetwork (LAN) or proprietary Wide Area Network (WAN) such as one or moreintranets. Some communications can employ one or more non-proprietarycommunications channels, for instance one or more non-proprietarynetwork communications channels like a Wide Area Network (WAN) such asthe Internet and/or cellular provider communications networks includingvoice, data and short message service (SMS) networks or channels as partof the communications network 324.

In some implementations, the off-board control system 322 may executeone or more instructions from an end user authentication application toauthenticate the identity of an end user to retrieve one or more fooditems being held within the vending kiosk 100. Such end userauthentication may be initiated by one or more of the purchasing kiosk302 and/or the mobile device 304. The end user authenticationapplication can be executed by one or more hardware circuits, forinstance one or more processors and stored on one or more associatednontransitory storage media, e.g., memory (e.g., FLASH, RAM, ROM) and/orspinning media (e.g., spinning magnetic media, spinning optical media)that stores at least one of processor-executable instructions or data.The off-board control system 322 may communicatively couple with thevending kiosk 100 to transmit information to confirm a purchasetransaction. Some communications can employ one or more proprietarycommunications channels, for instance a proprietary networkcommunications channel like a proprietary Local Area Network (LAN) orproprietary Wide Area Network (WAN) such as one or more intranets. Somecommunications can employ one or more non-proprietary communicationschannels, for instance one or more non-proprietary networkcommunications channels like a Wide Area Network (WAN) such as theInternet and/or cellular provider communications networks includingvoice, data and short message service (SMS) networks or channels as partof the communications network 324.

In some implementations, the off-board control system 322 may transmitrouting, cooking (e.g., temperature control schedule), and/ordestination instructions to the vending kiosk 100 via the communicationsnetwork 324. Such routing and/or destination instructions may be used,for example, when the vending kiosk 100 is autonomously movable, asdiscussed below. The vending kiosk 100 may store the transmittedrouting, cooking, and/or destination instructions on one or morenontransitory storage media to be used during routing of the vehicle,cooking of food items, and/or travel to a destination. In someimplementations, the off-board control system 322 may transmit updatedrouting, cooking, and/or destination instructions to the vending kiosk100, which may thereby update the previously stored instructions. Insome implementations, the vending kiosk 100 may transmit informationback to the off-board control system 107. Such information may include,for example, number and amount of sales of food items, remainingingredients left in the vending kiosk 100, current location of thevending kiosk 100, and like information. The routing, cooking, and/ordestination instructions may be used by a human operator of adistribution vehicle that transports the vending kiosk 100 to adistribution location and/or autonomously by the vending kiosk 100 totravel to the distribution location.

In some implementations, the off-board control system 322 may executeone or more instructions from an actuator control application to controlone or more actuators on the vending kiosk 100. The actuator controlapplication can be executed by one or more hardware circuits, forinstance one or more processors and stored on one or more associatednontransitory storage media, e.g., memory (e.g., FLASH, RAM, ROM) and/orspinning media (e.g., spinning magnetic media, spinning optical media)that stores at least one of processor-executable instructions or data.The off-board control system 322 may communicatively couple with thevending kiosk 100 to transmit information to control one or more of theactuators. Some communications can employ one or more proprietarycommunications channels, for instance a proprietary networkcommunications channel like a proprietary Local Area Network (LAN) orproprietary Wide Area Network (WAN) such as one or more intranets. Somecommunications can employ one or more non-proprietary communicationschannels, for instance one or more non-proprietary networkcommunications channels like a Wide Area Network (WAN) such as theInternet and/or cellular provider communications networks includingvoice, data and short message service (SMS) networks or channels as partof the communications network 324.

FIGS. 4A and 4B show a self-propelled kiosk 400 that includes a vendingkiosk 100, a set of wheels 402, a motor 404, an optional cleaningsubsystem 406, and an on-board self-propelled vehicle control system408. The vending kiosk 100 may include a plurality of doors 102 that mayprovide access to corresponding compartments. Items, such as food items,may be retrieved from the compartments. Each of the doors 102 may be inthe open configuration 120 to provide access to the associatedcompartment 104, or in a closed configuration 122 to prevent access tothe associated compartment 104. In some implementations, one or more ofthe doors 102 may be selectively locked in the closed configuration 122to protect the item being stored in the corresponding compartment 104until the item can be retrieved by the consumer who has purchased theitem.

The set of wheels 402 may be used by the self-propelled kiosk 400 totravel across a geographic area. The motor 404 may be drivingly coupledto one or more wheels in the set of wheels 402, and used to drive theset of wheels 402 in an autonomous vehicle mode or in a semi-autonomousvehicle mode. The motor 404 may be any type of motor that may be used todrive the set of wheels 402, such as an electric motor, agasoline-powered motor, a natural gas-powered motor, or any other typeof similar motor. In some implementations, a set of treads 410 may beused to travel over a physical terrain. In such implementations, the setof treads 410 may provide improved stability when traveling over uneventerrain as compared to the set of wheels 402.

In some implementations, in the autonomous vehicle mode, theself-propelled kiosk 400 may be provided with destination information(e.g., destination location and/or route information), and theself-propelled kiosk 400 may navigate to the destination without anycontrol or supervision by a human. In such an implementation, theself-propelled kiosk 400 may use one or more sensors to collectinformation about the surroundings of the self-propelled kiosk 400.Based upon the collected information, one or more control systems on theself-propelled kiosk 400 may determine what actions the self-propelledkiosk 400 should take in response in order to continue traveling towardsthe destination location. In some implementations, in thesemi-autonomous vehicle mode, the self-propelled kiosk 400 may besubject to at least some control and/or supervision by a human. In suchan implementation, for example, the self-propelled kiosk 400 may use oneor more sensors to collect information about the surroundings of theself-propelled kiosk 400. A human controller may have the ability toreview the collected information and control the navigation of theself-propelled kiosk 400 based upon this collected information. In someimplementations, the human controller may intervene to control theself-propelled kiosk 400 in limited situations, such as, for example,when a control system on the self-propelled kiosk 400 cannot identify anext action to take in a given situation.

The cleaning subsystem 406 may include one or more brushes 412, a plenum414, and a low-pressure source 416, and a debris collection compartment418. The brushes 412 and the plenum 414 may be located along abottom-facing side 420 (FIG. 4B) of the self-propelled kiosk 400, andmay be oriented to face towards the ground or other surface on which theself-propelled kiosk 400 rests. In some implementations, the brushes 412may have an annular shape or a circular shape with an outside diameter421 and a height 422. The height 422 of the brushes 412 may be equal toor larger than a distance separating the bottom-facing side 420 of theself-propelled kiosk 400 from the ground or surface on which theself-propelled kiosk 400 rests. In this situation, at least a portion ofthe brushes 412 may make contact with the surface on which theself-propelled kiosk 400 rests to facilitate the collection of debrisfrom the surface. In some implementations, at least some of the brushes412 may be drivingly coupled to a motor (e.g., motor 404) that may movethe brushes 412 to improve the collection of debris. In implementationsin which the brushes 412 have a circular profile, the motor 404 mayrotate the brushes 412 about an axis of rotation 423 that extendsoutward from a center of the brushes 412. In such an implementation, thebrushes 412 may be rotated to sweep debris towards a collectioncomponent (e.g., the plenum 414, discussed below) located on the bottomfacing side 420 of the self-propelled kiosk 400. For example, inimplementations involving brushes 412 with a circular shape, the portionof the brush 412 facing the direction of movement of the self-propelledkiosk 400 may be rotated towards collection component to therebyfacilitate the collection of debris.

The cleaning subsystem 406 may include a plenum 414 and an associatedlow pressure source 416. The plenum 414 may have an open end 424 andextend outward from the bottom-facing side 420 of the self-propelledkiosk 400 such that the open end 424 is directed towards the surfacethat supports the self-propelled kiosk 400. In some implementations, theopen end 424 of the plenum 414 may have a rectangular profile with alength and a width, and the plenum 414 may have a height 426. Suchheight 426 may be less than the distance from the bottom-facing side 420of the self-propelled kiosk 400 and the surface on which theself-propelled kiosk 400. The plenum 414 may be in fluid communicationwith the low pressure source 416, such as a pump. The low pressuresource 416 may create a low pressure that is less than an atmosphericpressure of the ambient environment surrounding the self-propelled kiosk400. The low pressure created by the low pressure source 416 may producea suction effect at the open end 424 to thereby draw debris into theopen end 424 of the plenum 414.

The plenum 414 may be in fluid communication with a debris collectioncompartment 418 such that a fluid pathway extends from the open end 424of the plenum 414 to the debris collection compartment 418. The debristhat enters the open end 424 of the plenum 414 may travel through thefluid pathway to the debris collection compartment 418. The debriscollection compartment 418 may include an interior cavity that may storethe debris collected by the cleaning subsystem 406. In someimplementations, the debris collection compartment 418 may beselectively removable from the self-propelled kiosk 400 such that thedebris contained within the debris collection compartment 418 may beemptied.

The on-board self-propelled vehicle control system 408 may take the formof any current or future developed processor-enabled device capable ofexecuting one or more instruction sets. The on-board self-propelledvehicle control system 408 may include one or more processing units toexecute one or more processor-readable instructions, instruction sets,or instruction blocks. The on-board self-propelled vehicle controlsystem 408 may include a system memory to store one or moreprocessor-readable instructions, instruction sets, or instruction blocksto be executed by the processor. Such processor-readable instructions,instruction sets, or instruction blocks may be used to generate one ormore control signals that may be used to control the various componentsof the self-propelled kiosk 400, such as the motor 404 and/or thecleaning subsystem 406. In some implementations, the processor-readableinstructions, instruction sets, or instruction blocks may control theoperation of self-propelled kiosk 400 in one or both of the autonomousvehicle mode and the semi-autonomous vehicle mode. In someimplementation, some or all of the processor-readable instructions,instruction sets, or instruction blocks may be executed by an off-boardprocessor-enabled device. In such an implementation, the resultingcontrol signals may be transmitted to the vending kiosk via acommunication network.

FIGS. 5A, 5B, 5C, and 5D show a locker system 500 that may include aframe 501 and a plurality of doors 502, according to at least oneillustrated implementation. Two or more of the doors 502 in the lockersystem 500 may be selectively coupled to move together as a single unitin a coupled configuration 504 (FIG. 5D), or selectively uncoupled tomove independently of one another in an uncoupled configuration 506(FIGS. 5B, 5C). There are a plurality of hinges 508 that may be used toselectively rotatably or pivotally couple one or more of the doors 502for rotation between a closed configuration 510 (FIG. 5A) and an openconfiguration 512 (FIGS. 5B, 5C, and 5D). In some implementations, afirst set of hinges 508 a may selectively rotatably or pivotally couplethe door 502 along a right edge 514 of the door 502, a second set ofhinges 508 b may selectively rotatably or pivotally coupled the door 502along a left edge 516 of the door 502, a third set of hinges 508 c mayselectively rotatably or pivotally couple the door 502 along a top edge518 of the door 502, and a fourth set of hinges 508 d may selectivelyrotatably or pivotally couple the door 502 along a bottom edge 520 ofthe door 502.

In some implementations, each set of hinges 508 may be selectivelycoupled or uncoupled to the respective door 502 and/or to an adjacentportion of the locker system 500. For example, the first set of hinges508 a may be selectively coupled to the right edge 514 of the door 502and to a portion of the frame 501, thereby selectively providing a rightside axis 522 around which the door 502 may rotate. In such animplementation, each of the second set of hinges 508 b, the third set ofhinges 508 c, and the fourth set of hinges 508 d may be selectivelyuncoupled from either the door 502 and/or the adjacent portion of thelocker system 500 such that the door 502 may rotate about the right sideaxis 522. In some implementations, the second set of hinges 508 b may beselectively coupled to the left edge 516 of the door 502 and to aportion of a horizontally adjacent door 502 a, thereby selectivelyproviding a left side axis 524 around which the door 502 may rotate. Insuch an implementation, each of the first set of hinges 508 a, the thirdset of hinges 508 c, and the fourth set of hinges 508 d may beselectively uncoupled from either the door 502 and/or the adjacentportion of the locker system 500 such that the door 502 may rotate aboutthe left side axis 524. In some implementations, the third set of hinges508 c may be selectively coupled to the top edge 518 of the door 502 andto a portion of the frame 501, thereby selectively providing a top axis526 around which the door 502 may rotate. In such an implementation,each of the first set of hinges 508 a, the second set of hinges 508 b,and the fourth set of hinges 508 d may be selectively uncoupled fromeither the door 502 and/or the adjacent portion of the locker system 500such that the door 502 may rotate about the top axis 526. In someimplementations, the fourth set of hinges 508 d may be selectivelycoupled to the bottom edge 520 of the door 502 and to a portion of avertically adjacent door 502 b, thereby selectively providing a bottomaxis 528 around which the door 502 may rotate. In such animplementation, each of the first set of hinges 508 a, the second set ofhinges 508 b, and the third set of hinges 508 c may be selectivelyuncoupled from either the door 502 and/or the adjacent portion of thelocker system 500 such that the door 502 may rotate about the bottomaxis 528.

In some implementations, each door 502 on the locker system 500 mayinclude a set of coupling actuators 530 that may be used to couple thedoor 502 with an adjacent door 502 on the locker system 500. Such acoupling actuator 530 may be comprised, for example, of one or more of asolenoid, a piston and associated cylinder (e.g., hydraulic, pneumatic),a plurality of magnets, including at least one of which is anelectromagnet, and/or an electromagnet paired with a ferrous metal.

In some implementations, for example, the coupling actuator 530 mayinclude a housing 532 and a selectively extendable coupling post 534(FIG. 5D) that may be used to selectively couple and uncouple two ormore of the doors 502. In some implementations, the selectivelyextendable coupling post 534 may be selectively contained within thehousing 532 in a retracted state and selectively extended from one endof the housing 532 in an extended state. In some implementations, theselectively extendable coupling post 534 may be selectively extendedfrom the housing 532 to thereby securely couple adjacent doors 502 in acoupled configuration 536 to move as a single door 540. In someimplementations, when the selectively extendable coupling post 534 is inthe extended state, the selectively extendable coupling post 534 mayengage with an associated port 538 that is installed along the adjacentdoor 502. The single door 540 in such a coupled configuration 536 may beassociated with a relatively larger compartment 541 than thosecompartments that are accessible from just one door 502. In someimplementations, the selectively extendable coupling post 534 may be inthe retracted state, in which adjacent doors 502 may move independentlyfrom one another in an uncoupled configuration 539. As shown in FIG. 5D,for example, the left side door 502 c is in an uncoupled configuration539 with the single door 540. The selective movement of the selectivelyextendable coupling posts 534 from an extended state to a retractedstate may be in response to one or more actuator signals received from aprocessor-enabled device or components, as discussed below.

In some implementations, a set (e.g., one or more) of actuators 542 maybe attached or otherwise physically coupled to interact with each door502 on the locker system 500. Such locking actuators 542 may be used tosecurely lock each respective door 502 in a closed state. Such a lockingactuator 542 may be comprised, for example, of one or more of asolenoid, a piston and associated cylinder, a plurality of magnets,including at least one of which is an electromagnet, and/or anelectromagnet paired with a ferrous metal. In some implementations, forexample, the locking actuator 542 may include a housing 544 and aselectively extendable locking post 546 (FIG. 5B) that may be used toselectively lock and unlock the associated door 502. In someimplementations, the selectively extendable locking post 546 may beselectively contained within the housing 544 in a retracted state andselectively extended from one end of the housing 544 in an extendedstate. In some implementations, the selectively extendable locking post546 may be selectively extended from the housing 544 to thereby securelylock the associated door 502 in a locked state in a closed configuration550. In some implementations, when the selectively extendable lockingpost 546 is in the extended state, the selectively extendable lockingpost 546 may engage with an associated port 548 that may be installedalong an adjacent door 502 or along the frame 501 of the locker system500. In some implementations, the selectively extendable locking post546 may be in the retracted state, in which the associated door 502 maybe rotated about one or more axis (e.g., right side axis 522) from theclosed configuration 550 to an open configuration 552. The selectivemovement of the selectively extendable locking posts 546 from anextended state to a retracted state may be in response to one or moreactuator signals received from a processor-enabled device or components,as discussed below.

In some implementations, such as those in which the coupling actuators530 and locking actuators 542 include solenoids, the coupling actuators530 and the locking actuators 542 may each fail (i.e., on occurrence ofa failure, failure state, loss of power, or other error condition) suchthat the respective extendable posts are all in the extended state. Insuch an implementation, the doors 502 may remain securely locked toprevent items in the respective compartments (e.g., larger compartment541) from being taken. In implementations, the set of coupling actuators530 may be separate and distinct from the set of locking actuators 542,as shown in FIG. 5D. In some implementations, one or more actuators mayalternately serve as coupling actuators 530 during a first time periodin which the one or more actuators couple multiple doors 502 into asingle door 540. During a second, non-overlapping time period in whichthe multiple doors 502 are in an uncoupled configuration, the sameactuators may serve as locking actuators 542 to securely lock each ofthe multiple doors 502 in a respective closed configuration 550.

In some implementations, the locker system 500 may include an on-boardlocker control system 554 that may take the form of any current orfuture developed processor-enabled device capable of executing one ormore instruction sets. The on-board locker control system 554 mayinclude one or more processing units to execute one or moreprocessor-readable instructions, instruction sets, or instructionblocks. The on-board locker control system 554 may include a systemmemory to store one or more processor-readable instructions, instructionsets, or instruction blocks to be executed by the processor. Suchprocessor-readable instructions, instruction sets, or instruction blocksmay be used to generate one or more control signals that may be used tocontrol the various components of the locker system 500, such as thecoupling actuators 530 and/or the locking actuators 542. In someimplementation, some or all of the processor-readable instructions,instruction sets, or instruction blocks may be executed by an off-boardprocessor-enabled device. In such an implementation, the resultingcontrol signals may be transmitted to the vending kiosk via acommunication network.

FIGS. 6A and 6B show a selectively coupleable hinge 600 that isselectively coupled by a first arm 604 to a side edge 612 of a door 602and that is selectively coupleable by a second arm 606 to a portion of alocker system 608. The selectively coupleable hinge 600 provides an axisof rotation 610 that may extend parallel to the side edge 612 of thedoor 602. In some implementations, a first magnet 614 may be coupled toa portion of the first arm 604 of the selectively coupleable hinge 600.In such an implementation, the first magnet 614 may be placed along aside of the first arm 604 that faces towards the door 602. In someimplementations, the door 602 may include a recessed area 616 that issized and shaped to receive the first magnet 614. In someimplementations, the door 602 may contain a second magnet 618 that maybe aligned with and complementary to the first magnet 614. In someimplementations, the second magnet 618 may be of an opposite polarity asthe polarity of the first magnet 614 such that an attractive forcearises between the first magnet 614 and the second magnet 618. In someimplementations, at least one of the first magnet 614 and the secondmagnet 618 may be an electromagnet such that the attractive forcebetween the first magnet 614 and the second magnet 618 may beselectively activated and deactivated.

In some implementations, a third magnet 620 may be coupled to a portionof the second arm 606 of the selectively coupleable hinge 600. In suchan implementation, the third magnet 620 may be placed along a side ofthe first arm 604 that faces towards a portion of the locker system 608proximate the selectively coupleable hinge 600. In some implementations,the portion of the locker system 608 may include a recessed area 622that is sized and shaped to receive the third magnet 620. In someimplementations, the portion of the locker system 608 may contain afourth magnet 624 that may be aligned with and complementary to thethird magnet 620. In some implementations, the fourth magnet 624 may beof an opposite polarity as the polarity of the third magnet 620 suchthat an attractive force arises between the third magnet 620 and thefourth magnet 624. In some implementations, at least one of the thirdmagnet 620 and the fourth magnet 624 may be an electromagnet such thatthe attractive force between the third magnet 620 and the fourth magnet624 may be selectively activated and deactivated.

In some implementations, the first magnet 614 and second magnet 618 maybe selectively, physically coupled to thereby attach the selectivelycoupleable hinge 600 to the door 602, and the third magnet 620 and thefourth magnet 624 may be selectively, physically coupled to therebyattach the selectively coupleable hinge 600 to the portion of the lockersystem 608. When the first magnet 614 and the second magnet 618 arephysically coupled, and the third magnet 620 and the fourth magnet 624are physically coupled, the selectively coupleable hinge 600 may providean axis of rotation 610 around which the door 602 may rotate. In someimplementations, multiple sets of selectively coupleable hinges 600 mayeach be located along different respective edges of the door 602. Insuch an implementation, the multiple sets of selectively coupleablehinges 600 may be used to vary the direction in which the door 602rotates when opening. For example, in some implementations, a set ofselectively coupleable hinges 600 located along the right edge of a door602 may be used to selectively couple the door 602 to an adjacentportion of the locker system 608. At the same time the sets ofselectively coupleable hinges 600 located along the other edges (e.g.,the left edge, the top edge, and the bottom edge) may be uncoupled toeither the door 602 or to the respective adjacent portions of the lockersystem 608. In such an implementation, the various sets of selectivelycoupleable hinges 600 may provide a right side axis about which the door602 may rotate. The same door 602 may be provided with a left side axisby selectively coupling the set of selectively coupleable hinges 600located along the left edge, and selectively uncoupling the sets ofselectively coupleable hinges 600 located along the other edges of thedoor 602.

In some implementations, a processor enable device or component mayprovide one or more actuator signals to selectively couple and/oruncouple the respective sets of selectively coupleable hinges 600, asdiscussed below, to provide various axes of rotation to move the door602. In such an implementation, the respective axis of rotation for adoor 602 may be changed based upon various attributes of an end user.For example, in some implementations, the processor-enabled device orcomponent may store information regarding physical traits of the enduser, such as, for example, the dominant hand of the end user,indicating, for example, that the end user is either right-handed orleft-handed. In such an implementation, the processor-enabled device orcomponent may transmit one or more actuator signals to selectivelycouple a set of selectively coupleable hinges 600 based upon thephysical characteristic of the end user (e.g., selectively coupling theset of selectively coupleable hinges 600 along the left edge of the door602, and uncoupling the remaining sets of selectively coupleable hinges600, to provide a left side axis of rotation for a left-handed user). Insome implementations, the physical characteristics of the end user maybe determined based upon one or more sensors located at the lockersystem 608. For example, in some implementations, the locker system 608may include an imager that may capture an image of the end user who isproximate the locker system 608 to retrieve an item. In someimplementations, a processor enabled device or component may recognizefrom an image captured by the imager that the end user has oneparticular hand occupied, such as, for example, by carrying a package ora child. As such, the processor enabled device or component mayconfigure the door 602 to open along an axis that is determined based atleast in part on the captured image of the end user.

FIGS. 7A, 7B, and 7C show a locker system 700 that has an interior 702that includes a set of configurable compartments 704, according to atleast one illustrated implementation. The interior 702 of the lockersystem 700 may include one or more side walls 706, a back wall 708, atop surface 710, and a bottom surface 712. The interior 702 may have alength 714 that extends between two opposing side walls 706, a depth 716that extends from the back wall 708 to a front portion of the interior702, and a height 718 that extends from the bottom surface 712 towardsthe top surface 710. In some implementations, the set of configurablecompartments 704 may be used in conjunction with locker system 500 inwhich the respective doors 502 may be variously configured. In someimplementations, one or more of the side walls 706 and the back wall 708may be solid (e.g., sheet metal, sheet of plastic). In someimplementations, one or more of the side walls 706 and the back wall 708may be a mesh (e.g., wire mesh or grid, expanded metal) with a pluralityof openings. In some implementations, one or more of the side walls 706and the back wall 708 may be perforated (e.g., perforated sheet metal,perforated sheet of plastic) with a plurality of openings. In someimplementations, one or more of the side walls 706 and the back walls708 may be comprised of bars and/or slats with intervening openings. Insome implementations, some or all of the thermal insulation may beomitted, such as, for example, when the locker system 700 will not storeperishable item and/or will not be used to cook food items.

The locker system 700 may include a set of selectively movable shelves720 (e.g., first selectively movable shelf 720 a and second selectivelymovable shelf 720 b) that extend across some or all of the length 714 ofthe interior 702 of the locker system. The first selectively movableshelf 720 a may include a first set of horizontally aligned slats 722 awherein each horizontally aligned slat 722 a is separated by a distancefrom each adjacent slat. In such an implementation, the top portions ofeach horizontally aligned slat 722 a are aligned within a horizontalplane to thereby form a slotted horizontal surface. The first set ofhorizontally aligned slats 722 a may be drivingly coupled to a motor(not shown) that may move the first set of horizontally aligned slats722 a in a vertical direction 724 within the interior 702 of the lockersystem 700. Such movement in the vertical direction 724 may be used tomodify the dimensions of at least some of the configurable compartments704.

The second selectively movable shelf 720 b may include a second set ofhorizontally aligned slats 722 b wherein each horizontally aligned slat722 b is separated by a distance from each adjacent slat. In such animplementation, the top portions of each horizontally aligned slat 722 bmay be aligned within a horizontal plane to thereby form a slottedhorizontal surface. In some implementations, each of the horizontallyaligned slats 722 b within the second set of horizontally aligned slats722 b may align in a vertical direction with a respective horizontallyaligned slat 722 a within the first set of horizontally aligned slats722 a. In such an implementation, the slots formed by the second set ofhorizontally aligned slats 722 b may align with respective slots formedby the first set of horizontally aligned slats 722 a. The second set ofhorizontally aligned slats 722 b may be drivingly coupled to a motor(not shown) that may move the second set of horizontally aligned slats722 b in a vertical direction 726 within the interior 702 of the lockersystem 700. Such movement in the vertical direction 726 may be used tomodify the dimensions of at least some of the configurable compartments704.

In some implementations, the movement in the vertical direction 724 forthe first set of horizontally aligned slats 722 a may be limited to onlya portion of the interior 702 of the locker system 700, and/or themovement in the vertical direction 726 for the second set ofhorizontally aligned slats 722 b may be limited to only a portion of theinterior 702 of the locker system 700. For example, in some limitations,the first set of horizontally aligned slats 722 a may move within anupper portion (e.g., the upper half) of the interior 702 of the lockersystem 700, and the second set of horizontally aligned slats 722 b maymove within a lower portion (e.g., the lower half) of the interior 702of the locker system 700 to thereby prevent any interference between thefirst set of horizontally aligned slats 722 a and the second set ofhorizontally aligned slats 722 b.

In some implementations, the locker system 700 may include a set ofselectively movable walls 728 (e.g., first selectively movable wall 728a and second selectively movable wall 728 b) that extend across some orall of the height 718 of the interior 702 of the locker system. Thefirst selectively movable wall 728 a may include a first set ofvertically aligned slats 730 a wherein each vertically aligned slat 730a is separated by a distance from each adjacent slat. In such animplementation, the left and right vertical edges of each verticallyaligned slat 730 a may be aligned within a left vertical plane and aright vertical plane, respectively. The first set of vertically alignedslats 730 a may be drivingly coupled to a motor (not shown) that maymove the first set of vertically aligned slats 730 a in a horizontaldirection 732 within the interior 702 of the locker system 700. Suchmovement in the horizontal direction 732 may be used to modify thedimensions of at least some of the configurable compartments 704.

In some implementations, each of the vertically aligned slats 730 a mayalign with and pass through corresponding slots within each of the firstset of horizontally aligned slats 722 a and the second set ofhorizontally aligned slats 722 b. In such an implementation, each of thefirst set of horizontally aligned slats 722 a and the second set ofhorizontally aligned slats 722 b may align with and pass through a slotformed within the first set of vertically aligned slats 730 a. Suchalignment between the first set of vertically aligned slats 730 a, andeach of the first set of horizontally aligned slats 722 a and the secondset of horizontally aligned slats 722 b may be maintained even as one ormore of the first set of vertically aligned slats 730 a, the first setof horizontally aligned slats 722 a, and the second set of horizontallyaligned slats 722 b are translated within the interior 702 of the lockersystem 700.

The second selectively movable wall 728 b may include a second set ofvertically aligned slats 730 b wherein each vertically aligned slat 730b is separated by a distance from each adjacent slat. In such animplementation, the left and right vertical edges of each verticallyaligned slat 730 b may be aligned within a left vertical plane and aright vertical plane, respectively. The second set of vertically alignedslats 730 b may be drivingly coupled to a motor (not shown) that maymove the second set of vertically aligned slats 730 b in a horizontaldirection 734 within the interior 702 of the locker system 700. Suchmovement in the horizontal direction 734 may be used to modify thedimensions of at least some of the configurable compartments 704. Insome implementations, each of the vertically aligned slats 730 b withinthe second set of vertically aligned slats 730 b may align in ahorizontal direction with a respective vertically aligned slat 730 awithin the first set of vertically aligned slats 730 a. In such animplementation, the slots formed by the second set of vertically alignedslats 730 b may align with respective slots formed by the first set ofvertically aligned slats 730 a.

In some implementations, each of the vertically aligned slats 730 b inthe second set of vertically aligned slats 730 b may align with and passthrough corresponding slots within each of the first set of horizontallyaligned slats 722 a and the second set of horizontally aligned slats 722b. In such an implementation, each of the first set of horizontallyaligned slats 722 a and the second set of horizontally aligned slats 722b may align with and pass through a slot formed within the second set ofvertically aligned slats 730 b. Such alignment between the second set ofvertically aligned slats 730 b, and each of the first set ofhorizontally aligned slats 722 a and the second set of horizontallyaligned slats 722 b may be maintained even as one or more of the secondset of vertically aligned slats 730 b, the first set of horizontallyaligned slats 722 a, and the second set of horizontally aligned slats722 b are translated within the interior 702 of the locker system 700.

In some implementations, the movement in the vertical direction 724 forthe first set of horizontally aligned slats 722 a may be limited to onlya portion of the interior 702 of the locker system 700, and/or themovement in the vertical direction 726 for the second set ofhorizontally aligned slats 722 b may be limited to only a portion of theinterior 702 of the locker system 700. For example, in some limitations,the first set of horizontally aligned slats 722 a may move within anupper portion (e.g., the upper half) of the interior 702 of the lockersystem 700, and the second set of horizontally aligned slats 722 b maymove within a lower portion (e.g., the lower half) of the interior 702of the locker system 700 to thereby prevent any interference between thefirst set of horizontally aligned slats 722 a and the second set ofhorizontally aligned slats 722 b.

The movement of the selectively movable shelves 720 and/or theselectively movable walls 728 may be controlled by a processor-enabledcomponent 736 that may take the form of any current or future developedprocessor-enabled device capable of executing one or more instructionsets. The processor-enabled component 736 may include one or moreprocessing units to execute one or more processor-readable instructions,instruction sets, or instruction blocks. The processor-enabled component736 may include a system memory to store one or more processor-readableinstructions, instruction sets, or instruction blocks to be executed bythe processor. Such processor-readable instructions, instruction sets,or instruction blocks may be used to generate one or more controlsignals that may be used to control the movement of the selectivelymovable shelves 720 and/or the selectively movable walls 728. In someimplementations, the processor-enabled component 736 may be implementedby an on-board locker control system 554 (FIG. 5). In someimplementation, some or all of the processor-readable instructions,instruction sets, or instruction blocks may be executed by an off-boardprocessor-enabled device. In such an implementation, the resultingcontrol signals may be transmitted to the vending kiosk via acommunication network.

As shown in FIG. 7C, the locker system 700 may include a set ofselectively manually removable walls 738 (e.g., first selectivelymanually removable wall 738 a, second manually selectively removablewall 738 b, and third manually selectively removable wall 738 c) thatextend across some or all of the height 718 of the interior 702 of thelocker system. The locker system 700 may include a set of selectivelymanually removable shelves 740 (e.g., first selectively manuallyremovable shelf 740 a and second selectively manually removable shelf740 b) that may extend across some or all of the length 714 of theinterior 702 of the locker system. At least a portion of at least one ofthe selectively manually removable walls 738 and/or selectively manuallyremovable shelves 740 may be removed to configure the configurablecompartments 704 of various sizes. Such sizes may be based for exampleupon the size of the items to be placed in one or more of theconfigurable compartments 704. The portions of the selectively manuallyremovable walls 738 and/or the selectively manually removable shelves740 may be removed by a user, worker, or other person to configure theconfigurable compartments 704 of the desired size.

FIG. 8A, FIG. 8B, and FIG. 8C show a self-propelled delivery robot 800that includes a first thermally insulated compartment 802 a and a secondthermally insulated compartment 802 b that may be used to carry items,such as food items, for delivery, according to at least one illustratedimplementation. In some implementations, the self-propelled deliveryrobot 800 may further include a propulsion subsystem 804, an on-boardself-propelled delivery robot control subsystem 806, and a user inputsubsystem 812. The self-propelled delivery robot 800 may include abottom surface 814, an opposing top surface 816, and one or moresidewalls 818 that extend between the bottom surface 814 and the topsurface 816.

The first thermally insulated compartment 802 a may have a firstinterior 820 a that includes a width 822, a depth 824, and a height 826.In some implementations, the first interior 820 a may be sized anddimensioned to contain a first food item 828. In some implementations, aheater 830 may be used to increase the temperature of the first interior820 a of the first thermally insulated compartment 802 a to a heatedstate. The heater 830 may include one or more of an electricallyresistive heating element, a natural gas burner, a propane burner,and/or an inductive heating element. In some implementations, the heater830 may be positioned, for example, along the bottom surface 814 of theself-propelled delivery robot 800. In some implementations, the heater830 may include a heater opening through which heat may be introduced tothe first interior 820 a of the first thermally insulated compartment802 a. In some implementations, a fan may be used to direct heated airinto the first interior 820 a of the first thermally insulatedcompartment 802 a through the heater opening.

In some implementations, the heated state provided by the heater 830 mayinclude a cooking state in which the heater 830 may raise thetemperature in the first interior 820 a of the first thermally insulatedcompartment 802 a to at least 325° F. to cook an item of food stored inthe compartment. In some implementations, the heated state provided bythe heater 830 may include a heating state in which the heater 830 maybe operable to raise the temperature in the first interior 820 a of thefirst thermally insulated compartment 802 a to between 140° F. and 250°F. to warm an already cooked item of food stored in the first interior820 a. In some implementations, the heater 830 may be operabletransition between the cooking state and the warming state based uponone or more signals, such as signals that may be transmitted by aprocessor-enabled device.

The second thermally insulated compartment 802 b may have a secondinterior 820 b that includes a width 832, a depth 834, and a height 836.In some implementations, the second interior 820 b may be sized anddimensioned to contain a second food item (not shown). In someimplementations, a cooler 838 may be used to decrease the temperature ofthe second interior 820 b of the second thermally insulated compartment802 b to a cooled state. The cooler 838 may include one or more of arefrigerant carrying coil and compressor, a Peltier device, orthermoelectric cooler. In some implementations, the cooler 838 may bepositioned, for example, along the bottom surface 814 of theself-propelled delivery robot 800. In such an implementation, the cooler838 may include a cooler opening (not shown) through which cooled,refrigerated air may be introduced to the second interior 820 b of thesecond thermally insulated compartment 802 b to thereby lower thetemperature of the second interior 820 b to a refrigerated state. Insome implementations, a fan may be used to direct the refrigerated airinto the second interior 820 b of the second thermally insulatedcompartment 802 b. In some implementations, the refrigerated stateprovided by the cooler 838 may lower the temperature within the secondinterior 820 b of the second thermally insulated compartment 802 b to ator below 41° F. to cool the second food item stored in the compartment.The first thermally insulated compartment 802 a and the second thermallyinsulated compartment 802 b may be separated by a thermally insulatingbarrier 840 that inhibits the transfer of heat between the firstthermally insulated compartment 802 a and the second thermally insulatedcompartment 802 b. In such an implementation, the first thermallyinsulated compartment 802 a may be used to transport a hot food item(e.g., an entree) to an end user, whereas the second thermally insulatedcompartment 802 b may be used to transport a chilled food item (e.g., abeverage and/or a salad) to the same or a different end user.

In some implementations, each of the first thermally insulatedcompartment 802 a and the second thermally insulated compartment 802 bmay be surrounded by a container 842. Such a container 842 may includean exterior surface 844 that separates each of the first thermallyinsulated compartment 802 a and the second thermally insulatedcompartment 802 b from an exterior 845 of the self-propelled deliveryrobot 800. In some implementations, the exterior surface 844 may bedelineated by one or more of the bottom surface 814, the top surface816, and the sidewalls 818 of the self-propelled delivery robot 800. Insome implementations, one or more openings 846 (e.g., first opening 846a and second opening 846 b) may provide an aperture or path between theexterior 845 of the self-propelled delivery robot 800 and the interiors820 of respective thermally insulated compartments 802 (e.g., the firstinterior 820 a of the first thermally insulated compartment 802 a, andthe second interior 820 b of the second thermally insulated compartment802 b, respectively).

In some implementations, a set of one or more doors 848 (e.g., firstdoor 848 a and second door 848 b, collectively, doors 848) may bephysically coupled to the self-propelled delivery robot 800. As such,each door 848 in the set of doors 848 may be associated with arespective one of the openings 846 for one of the thermally insulatedcompartments 802. For example, the first door 848 a may be associatedwith the first opening 846 a for the first thermally insulatedcompartment 802 a. As such, each door 848 may be selectively, operablymoved between a closed configuration 850 in which the door 848 coversthe associated opening 846 thereby preventing access to the interior 820of the respective thermally insulated compartment 802, and an openconfiguration 852 in which the door 848 is moved (e.g., rotated or slid)to reveal the associated opening 846 to thereby provide access to theinterior 820 of respective thermally insulated compartment 802. In someimplementations, the movement of the one or more doors 848 may beeffected by rotating each of the one or more doors 848 about a set ofone or more hinges (e.g., first set of hinges 854 a and second set ofhinges 854 b), by sliding each of the one or more doors 848 along a setof one or more tracks (not shown). In some implementations, one or moreedges of each door 848 may include a component comprised of rubber orsome other compressible elastomer that may sealingly engage with aportion of the container 842 proximate the respective opening 846associated with the respective door 848 when the door 848 is in theclosed configuration to provide additional thermal insulation for thethermally insulated compartment 802.

In some implementations, one or more of the doors 848 may each include alock 856. The lock 856 may be used to lock the associated door 848 in aclosed configuration 850 to thereby prevent access to the interior 820of the associated thermally insulated compartment 802. In someimplementations, one or more actuators may be used to selectively engagethe lock 856 to lock the associated door 848 in the closed configuration850 and to selectively disengage the lock 856 to unlock the associateddoor 848 such that the door 848 may move from the closed configuration850 to the open configuration 852, thereby providing access to therespective thermally insulated compartment 802. Such an actuator mayinclude, for example, one or more of a solenoid, a piston and associatedcylinder, a plurality of magnets, including at least one of which is anelectromagnet, and/or an electromagnet paired with a ferrous metal. Insome implementations, the actuator may be responsive to one or moreactuator signals transmitted from one or more processors, as discussedbelow, to lock and/or unlock the associated lock 856. In someimplementations, for example, the actuator may receive a signal tounlock one of the locks 856 to provide access to the interior 820 of theassociated thermally insulated compartment 802 when, for example, theself-propelled delivery robot 800 reaches a delivery destination, and/orconfirms the presence of an end user who is to retrieve a food itemstored within one of the thermally insulated compartments 802. In someimplementations, such a signal may be generated by a processor-enabledcomponent that is located on the self-propelled delivery robot 800. Insome implementations, such a signal may be generated by aprocessor-enabled component that is located remotely from theself-propelled delivery robot 800. In some implementations, the door 848may be manually moveable between the open configuration 852 and theclosed configuration 850 when the door 848 is unlocked with suchmovement facilitated, for example, by a handle 858.

The propulsion subsystem 804 may include a set of wheels 808 and/or aset of treads 810 along with at least one motor 860 may be used by theself-propelled delivery robot 800 to travel across a geographic area. Insome implementations, the motor 860 may be drivingly coupled to one ormore wheels in the set of wheels 808, and used to drive the set ofwheels 808 in an autonomous robot mode or in a semi-autonomous robotmode. The motor 860 may be any type of motor that may be used to drivethe set of wheels 808, such as an electric motor, a gasoline-poweredmotor, a natural gas-powered motor, or any other type of similar motor.In some implementations, the set of treads 810 may be drivingly coupledto the motor 860 and used to travel over a physical terrain. In suchimplementations, the set of treads 810 may provide improved stabilitywhen traveling over uneven terrain as compared to the set of wheels 808.

In some implementations, in the autonomous robot mode, theself-propelled delivery robot 800 may be provided with destinationinformation (e.g., destination location and/or route information), andthe self-propelled delivery robot 800 may navigate to the destinationwithout any control or supervision by a human. In such animplementation, the self-propelled delivery robot 800 may use one ormore sensors to collect information about the surroundings of theself-propelled delivery robot 800. Based upon the collected information,one or more control systems on the self-propelled delivery robot 800 maydetermine what actions the self-propelled delivery robot 800 should takein response in order to continue traveling towards the destinationlocation. In some implementations, in the semi-autonomous vehicle mode,the self-propelled delivery robot 800 may be subject to at least somecontrol and/or supervision by a human. In such an implementation, forexample, the self-propelled delivery robot 800 may use one or moresensors to collect information about the surroundings of theself-propelled delivery robot 800. A human controller may have theability to review the collected information and control the navigationof the self-propelled delivery robot 800 based upon this collectedinformation. In some implementations, the human controller may interveneto control the self-propelled delivery robot 800 in limited situations,such as, for example, when a control system on the self-propelleddelivery robot 800 cannot identify a next action to take in a givensituation.

The user input subsystem 812 may be used to collect information relatedto an item, such as a food item, stored within one of the thermallyinsulated compartments 802 of the self-propelled delivery robot 800. Insome implementations, for example, the user input subsystem 812 mayinclude one or more of a card reader 862, a keypad/touchscreen 864,and/or a biometric capture device 866. In some implementations, the cardreader 862 may be used to read and collect information that has beenencoded within a financial transaction card using, for example, amagnetic stripe, a card chip, or some other type of storage medium. Thecard reader 862 may be communicatively coupled to one or more processorsthat may authorize a requested purchase transaction based uponinformation stored within and/or associated with the financialtransaction card. Such one or more processors may be located locally onthe self-propelled delivery robot 800, such as part of the on-boardself-propelled delivery robot control subsystem 806, and/or remotelyfrom the self-propelled delivery robot 800 at one or moreprocessor-enabled devices that may be communicatively coupled to theself-propelled delivery robot 800 via a communications network.

The keypad/touchscreen 864 may be used to enter information related toan item stored within one or more of the thermally insulatedcompartments 802. In such an implementation, for example, thekeypad/touchscreen 864 may be used to enter a key code that mayassociated with a purchase transaction and/or order to be retrieved fromone of the thermally insulated compartments 802. In someimplementations, the key code may include an order identifier that maybe associated with the purchase transaction and may be comprised of aunique code that is associated with the order to be retrieved fromself-propelled delivery robot 800. In some implementations, the orderidentifier may be a randomly generated identifier that is not related tothe order identifiers associated with other items being transported bythe self-propelled delivery robot 800. Such a randomly generatedidentifier may be used, for example, to prevent orders from beingstolen, and to reduce the possibility that an order entry that has beenmis-entered will nonetheless provide access to a thermally insulatedcompartment 802 associated with another order. In some implementations,the key code may additionally or alternatively include a customeridentifier that may be associated with the customer who will beretrieving the order from the self-propelled delivery robot 800.

The biometric capture device 866 and associated software may be used toidentify consumers based upon one or more physical characteristics. Suchphysical characteristics may include, for example, one or more offingerprints, facial features, eye feature, vocal characteristics,and/or any other unique physical characteristic of the consumer. In someimplementations, such software may be implemented by one or moreprocessor-enabled devices, including processor-enabled devices that maybe communicatively coupled to the self-propelled delivery robot 800 viaa communications network. Once the biometric capture device 866 andassociated software has identified the consumer, the processor-enabledevice may transmit one or more signals that may result in theappropriate door 848 on the self-propelled delivery robot 800 beingunlocked for the consumer.

The self-propelled delivery robot 800 may include an antenna 868 thatmay be used to provide wireless communication capabilities for theself-propelled delivery robot 800. In some implementations, for example,the antenna 868 may be used to communicate using wireless communicationsprotocols, such as protocols for wireless local area networks (e.g.,WIFI®, IEEE 802.11, WiMAX, IEEE 802.116, VoIP, and the like) orprotocols for wireless peer-to-peer communications (e.g., Bluetooth®,Bluetooth® Low Energy, and the like).

In some implementations, the antenna 868 may be used to wirelesslycommunicate with objects or devices that are proximate theself-propelled delivery robot 800. For example, in some implementations,the antenna 868 may be used to provide near field communication (NFC)capabilities and/or radio frequency identification (RFID) capabilitieswith device and objects proximate the self-propelled delivery robot 800.Such device may include wireless devices associated with consumers whohave authorized purchase transaction. In such implementations, thewireless device of the consumer may be with four (4) inches of theantenna 868 for the antenna 868 to receive NFC signals and/or withinnine (9) feet of the antenna 868 for the antenna 868 to receive RFIDsignals. Such NFC signals and/or RFID signals may be used to encodeinformation to authorize a purchase transaction and/or to confirm that aperson or device logically associated with a previous purchasetransaction is proximate the self-propelled delivery robot 800. Theantenna 868 may be communicatively coupled to a processor-enabled devicethat may decode the information contained with the NFC signal and/orRFID signal, and use the decoded information to provide suchauthorization and/or confirmation. Upon determining such authorizationand/or confirmation, the processor-enabled device may transmit one ormore actuator control signals to unlock the appropriate door 848 on theself-propelled delivery robot 800 so that the consumer may retrieve thepurchased item from the associated thermally insulated compartment 802.

In some implementations, the self-propelled delivery robot 800 mayinclude a transfer assembly 870 that may be used to transfer itemsbetween the first thermally insulated compartment 802 a and the secondthermally insulated compartment 802 b. In some implementations, forexample, the transfer assembly 870 may include a rotatable platform 872and one or more hinged and/or rotatable robotic arms 874. In such animplementation, the rotatable platform 872 may be used to rotate thehinged and/or rotatable robotic arms 874 about a vertical axis ofrotation 876 that extends perpendicularly from the top surface 816 ofthe self-propelled delivery robot 800. As such, the rotatable platform872 may be used to position the hinged and/or rotatable robotic arms 874relative to at least one of a first opening associated with the firstthermally insulated compartment 802 a and/or a second opening associatedwith the second thermally insulated compartment 802 b. Once positioned,the hinged and/or rotatable robotic arms 874 may be operable to extendpast the top surface 816 of the self-propelled delivery robot 800 andreach into one of the first thermally insulated compartment 802 a or thesecond thermally insulated compartment 802 b to retrieve an item. Thehinged and/or rotatable robotic arms 874 may then be used to transferthe retrieved item to the other thermally insulated compartment 802. Insome implementations, the hinged and/or rotatable robotic arms 874 ofthe transfer assembly 870 may be used to retrieve an item from one ofthe thermally insulated compartments 802 and provide the retrieved itemto an end user, such as, for example, when the end user has confirmed apurchase transaction. As such, the transfer assembly 870 may be used toreduce the interactions between the end user and the thermally insulatedcompartments 802, to thereby reduce wear and tear on the thermallyinsulated compartments 802.

The on-board self-propelled delivery robot control subsystem 806 maytake the form of any current or future developed processor-enableddevice capable of executing one or more instruction sets. The on-boardself-propelled delivery robot control subsystem 806 may include one ormore processing units to execute one or more processor-readableinstructions, instruction sets, or instruction blocks. The on-boardself-propelled delivery robot control subsystem 806 may include a systemmemory to store one or more processor-readable instructions, instructionsets, or instruction blocks to be executed by the processor. Suchprocessor-readable instructions, instruction sets, or instruction blocksmay be used to generate one or more control signals that may be used tocontrol the various components of the self-propelled delivery robot 800,such as the locks 856. In some implementations, the processor-readableinstructions, instruction sets, or instruction blocks may control theoperation of various subsystems or components on the vending kiosk, suchas various components of the propulsion subsystem 806, user inputsubsystem 812, the heater 830, the cooler 838, and/or the transferassembly 870. In some implementations, the on-board self-propelleddelivery robot control subsystem 806 may be used to communicate usingone or more using wireless communications protocols via the antenna 868.In some implementation, some or all of the processor-readableinstructions, instruction sets, or instruction blocks may be executed byan off-board processor-enabled device. In such an implementation, theresulting control signals may be transmitted to the vending kiosk via acommunication network.

FIG. 9 shows a version of a self-propelled delivery robot that is anaerial delivery drone 900, according to at least one illustratedimplementation. The aerial delivery drone 900 may include a firstthermally insulated compartment 902 a and a second thermally insulatedcompartment 902 b that may be used to carry items, such as food items,for delivery, according to at least one illustrated implementation. Insome implementations, the aerial delivery drone 900 may further includea propulsion subsystem 904, and an on-board aerial delivery dronecontroller subsystem 906.

The first thermally insulated compartment 902 a may have a firstinterior 908 a that may be sized and dimensioned to contain a first fooditem 910 a. In some implementations, a first holder 912 a may be used tohold a hot or cold pack that may be used to maintain the temperaturewithin the first thermally insulated compartment 902 a at an increasedor decreased, respectively, temperature. Such a hot or cold pack may beinserted into an opening of the first holder 912 a, and used to warm orrefrigerate the first interior 908 a depending upon the first food item910 a. The first interior 908 a may be accessed by a first opening 909a.

The second thermally insulated compartment 902 b may have a secondinterior 908 b that may be sized and dimensioned to contain a secondfood item 910 b. In some implementations, a second holder 912 b may beused to hold a hot or cold pack that may be used to maintain thetemperature within the second thermally insulated compartment 902 b atan increased or decreased, respectively, temperature. Such a hot or coldpack may be inserted into an opening of the second holder 912 b, andused to warm or refrigerate the second interior 908 b. The secondinterior 908 b may be accessed by a second opening 909 b.

In some implementations, one or both of the first thermally insulatedcompartment 902 a and/or the second thermally insulated compartment 902b may be selectively, physically coupled to a platform 914 that may becoupled to the propulsion subsystem 904. In such an implementation, oneor both of the first thermally insulated compartment 902 a and/or thesecond thermally insulated compartment 902 b may be selectively removedfrom the aerial delivery drone 900. For example, in someimplementations, the thermally insulated compartments 902 may bephysically coupled to the platform 914 via one or more protrusions 916that extend horizontally outward from the rest of the thermallyinsulated compartment 902 proximate a top portion of the thermallyinsulated compartment 902. Such protrusions 916 may be sized anddimensioned to slide into corresponding openings formed by extensions918 that extend outward from the platform 914. The thermally insulatedcompartment 902 may thereby be physically coupled and secured to theplatform 914 by aligning the protrusions 916 on the thermally insulatedcompartment 902 with the corresponding openings formed by the extensions918 from the platform 914 and sliding the thermally insulatedcompartment 902 in a horizontal direction 920 to engage each protrusion916 within the opening formed by the corresponding extension 918. Thethermally insulated compartment 902 may be de-coupled from the aerialdelivery drone 900 by sliding the thermally insulated compartment 902 inthe opposite direction until the protrusions 916 are no longer engagedwith the corresponding extensions 918. In such an implementation,thermally insulated compartments 902 may be pre-loaded with theappropriate food item while the aerial delivery drone 900 is at anotherlocation (e.g., making another delivery). Once the aerial delivery drone900 is present, the aerial delivery drone 900 can be quickly turned fora new delivery by physically de-coupling and quickly removing any emptythermally insulated compartments 902, and coupling and quickly securingthe pre-loaded thermally insulated compartment 902 to the aerialdelivery drone 900.

In some implementations, a set of one or more doors 922 (e.g., firstdoor 922 a and second door 922 b, collectively, doors 922) may bephysically coupled to respective ones of the thermally insulatedcompartments 902. Each door 922 may be selectively, operably movedbetween a closed configuration (not shown) in which the door 922 coversthe associated opening 909 thereby preventing access to the interior 908of the respective thermally insulated compartment 902, and an openconfiguration 925 in which the door 922 is moved (e.g., rotated or slid)to reveal the associated opening 909 to thereby provide access to theinterior 908 of respective thermally insulated compartment 902. In someimplementations, one or more edges of each door 922 may include acomponent comprised of rubber or some other compressible elastomer thatmay sealingly engage with a portion of the thermally insulatedcompartment 902 proximate the respective opening 909 when the door 922is in the closed configuration to provide additional thermal insulationfor the thermally insulated compartment 902.

In some implementations, one or more of the doors 922 may each include alock 924 (e.g., first lock 924 a on the first door 922 a and second lock924 b on the second door 922 b). The lock 924 may be used to lock theassociated door 922 in a closed configuration to thereby prevent accessto the interior 908 of the associated thermally insulated compartment902. In some implementations, one or more actuators may be used toselectively engage the lock 924 to lock the associated door 922 in theclosed configuration and to selectively disengage the lock 924 to unlockthe associated door 922 such that the door 922 may move from the closedconfiguration to the open configuration 852, thereby providing access tothe respective thermally insulated compartment 902. Such an actuator mayinclude, for example, one or more of a solenoid, a piston and associatedcylinder, a plurality of magnets, including at least one of which is anelectromagnet, and/or an electromagnet paired with a ferrous metal. Insome implementations, the actuator may be responsive to one or moreactuator signals transmitted from one or more processors, as discussedbelow, to lock and/or unlock the associated lock 924. In someimplementations, for example, the actuator may receive a signal tounlock one of the locks 924 to provide access to the interior 908 of theassociated thermally insulated compartment 902 when, for example, theaerial delivery drone 900 reaches a delivery destination, and/orconfirms the presence of an end user who is to retrieve a food itemstored within one of the thermally insulated compartments 902. In someimplementations, such a signal may be generated by a processor-enabledcomponent that is located on the aerial delivery drone 900. In someimplementations, such a signal may be generated by a processor-enabledcomponent that is located remotely from the aerial delivery drone 900,such as, for example from a remote controller network. In someimplementations, the door 922 may be manually moveable between the openconfiguration 925 and the closed configuration when the door 922 isunlocked with such movement facilitated, for example, by a handle 926.

The propulsion subsystem 904 may include a set of rotor blades 928 thatmay be used to lift the aerial delivery drone 900 into the air in orderto navigate to a destination location. In some implementations, thepropulsion subsystem 904 may include a single rotor. In someimplementations, the propulsion subsystem 904 may include multiplerotors, including implementations in which the propulsion subsystem 904includes four rotors (e.g., quadcopter), wherein each rotor may beattached to a separate, respective fixed wing. Such a propulsionsubsystem 904 may provide sufficient lift to elevate the aerial deliverydrone 900 and one or more items into the air for travel. In such animplementation, the propulsion subsystem 904 may provide for verticaltake-off and landing, as well as be capable of performing a soft landingto minimize disruption or possible damage to the items beingtransported.

In some implementations, the antenna 930 may be used to wirelesslycommunicate with objects or devices that are proximate the aerialdelivery drone 900. For example, in some implementations, the antenna930 may be used to provide near field communication (NFC) capabilitiesand/or radio frequency identification (RFID) capabilities with deviceand objects proximate the aerial delivery drone 900. Such device mayinclude wireless devices associated with consumers who have authorizedpurchase transaction. In such implementations, the wireless device ofthe consumer may be with four (4) inches of the antenna 930 for theantenna 930 to receive NFC signals and/or within nine (9) feet of theantenna 930 for the antenna 930 to receive RFID signals. Such NFCsignals and/or RFID signals may be used to encode information toauthorize a purchase transaction and/or to confirm that a person ordevice logically associated with a previous purchase transaction isproximate the aerial delivery drone 900. The antenna 930 may becommunicatively coupled to a processor-enabled device that may decodethe information contained with the NFC signal and/or RFID signal, anduse the decoded information to provide such authorization and/orconfirmation. Upon determining such authorization and/or confirmation,the processor-enabled device may transmit one or more actuator controlsignals to unlock the appropriate door 922 on the aerial delivery drone900 so that the consumer may retrieve the purchased item from theassociated thermally insulated compartment 902.

The on-board aerial delivery drone controller subsystem 906 may take theform of any current or future developed processor-enabled device capableof executing one or more instruction sets. The on-board aerial deliverydrone controller subsystem 906 may include one or more processing unitsto execute one or more processor-readable instructions, instructionsets, or instruction blocks. The on-board aerial delivery dronecontroller subsystem 906 may include a system memory to store one ormore processor-readable instructions, instruction sets, or instructionblocks to be executed by the processor. Such processor-readableinstructions, instruction sets, or instruction blocks may be used togenerate one or more control signals that may be used to control thevarious components of the aerial delivery drone 900, such as the locks924. In some implementations, the processor-readable instructions,instruction sets, or instruction blocks may control the operation ofvarious subsystems or components on the vending kiosk, such as variouscomponents of the propulsion subsystem 904. In some implementations, theon-board aerial delivery drone controller subsystem 906 may be used tocommunicate using one or more using wireless communications protocolsvia the antenna 930. In some implementation, some or all of theprocessor-readable instructions, instruction sets, or instruction blocksmay be executed by an off-board processor-enabled device. In such animplementation, the resulting control signals may be transmitted to thevending kiosk via a communication network.

FIG. 10 shows a schematic block diagram of a control system 1000,according to at least one illustrated implementation. Such a controlsystem 1000 may be used as part of, or to implement, one or more of theon-board vending kiosk control system 166, the off-board control system322, the on-board self-propelled control system 408, the on-board lockercontrol system 554, the processor-enabled component 736, the on-boardself-propelled delivery robot control subsystem 806, and/or the on-boardaerial delivery drone controller subsystem 906.

The control system 1000 may take the form of any current or futuredeveloped computing system capable of executing one or more instructionsets. The control system 1000 includes a processing unit 1002, a systemmemory 1004 and a system bus 1006 that communicably couples varioussystem components including the system memory 1004 to the processingunit 1002. The control system 1000 will at times be referred to in thesingular herein, but this is not intended to limit the embodiments to asingle system, since in certain embodiments, there will be more than onesystem or other networked computing device involved. Non-limitingexamples of commercially available systems include, but are not limitedto, an Atom, Pentium, or 80x86 architecture microprocessor as offered byIntel Corporation, a Snapdragon processor as offered by Qualcomm, Inc.,a PowerPC microprocessor as offered by IBM, a Sparc microprocessor asoffered by Sun Microsystems, Inc., a PA-RISC series microprocessor asoffered by Hewlett-Packard Company, an A6 or A8 series processor asoffered by Apple Inc., or a 68xxx series microprocessor as offered byMotorola Corporation.

The processing unit 1002 may be any logic processing unit, such as oneor more central processing units (CPUs), microprocessors, digital signalprocessors (DSPs), application-specific integrated circuits (ASICs),field programmable gate arrays (FPGAs), programmable logic controllers(PLCs), etc. Unless described otherwise, the construction and operationof the various blocks shown in FIG. 10 are of conventional design. As aresult, such blocks need not be described in further detail herein, asthey will be understood by those skilled in the relevant art.

The system bus 1006 can employ any known bus structures orarchitectures, including a memory bus with memory controller, aperipheral bus, and a local bus. The system memory 1004 includesread-only memory (“ROM”) 1008 and random access memory (“RAM”) 1010. Abasic input/output system (“BIOS”) 1012, which can form part of the ROM1008, contains basic routines that help transfer information betweenelements within the control system 1000, such as during start-up. Someembodiments may employ separate buses for data, instructions and power.

The control system 1000 also includes one or more internal nontransitorystorage systems 1014. Such internal nontransitory storage systems 1014may include, but are not limited to, any current or future developedpersistent storage device 1016. Such persistent storage devices 1016 mayinclude, without limitation, magnetic storage devices such as hard discdrives, electromagnetic storage devices such as memristors, molecularstorage devices, quantum storage devices, electrostatic storage devicessuch as solid state drives, and the like.

The control system 1000 may also include one or more optional removablenontransitory storage systems 1018. Such removable nontransitory storagesystems 1018 may include, but are not limited to, any current or futuredeveloped removable persistent storage device 1020. Such removablepersistent storage devices 1020 may include, without limitation,magnetic storage devices, electromagnetic storage devices such asmemristors, molecular storage devices, quantum storage devices, andelectrostatic storage devices such as secure digital (“SD”) drives, USBdrives, memory sticks, or the like.

The one or more internal nontransitory storage systems 1014 and the oneor more optional removable nontransitory storage systems 1018communicate with the processing unit 1002 via the system bus 1006. Theone or more internal nontransitory storage systems 1014 and the one ormore optional removable nontransitory storage systems 1018 may includeinterfaces or device controllers (not shown) communicably coupledbetween nontransitory storage system and the system bus 1006, as isknown by those skilled in the relevant art. The nontransitory storagesystems 1014, 1018, and their associated storage devices 1016, 1020provide nonvolatile storage of computer-readable instructions, datastructures, program modules and other data for the control system 1000.Those skilled in the relevant art will appreciate that other types ofstorage devices may be employed to store digital data accessible by acomputer, such as magnetic cassettes, flash memory cards, RAMs, ROMs,smart cards, etc.

Program modules can be stored in the system memory 1004, such as anoperating system 1022, one or more application programs 1024, otherprograms or modules 1026, drivers 1028 and program data 1030.

The application programs 1024 may include, for example, one or moremachine executable instruction sets (i.e., temperature control schedule1024 a) capable of outputting temperature control instructions to thecomponents, e.g., heaters 208 and/or coolers 210 associated with eachcompartment 104 in a vending kiosk 100 and/or self-propelled kiosk 400.The application programs 1024 may include, for example, one or moremachine executable instruction sets (i.e., actuator control module 1024b) capable of transmitting actuator control signals to one or moreactuators that may be located in one or more of the vending kiosk 100,the self-propelled kiosk 400, the locker system 500, the self-propelleddelivery robot 800, and/or the aerial delivery drone 900. Theapplication programs 1024 may include, for example, one or more machineexecutable instruction sets (routing module 1024 c) capable of providingrouting instructions to one or more of the self-propelled kiosk 400, theself-propelled delivery robot 800, and/or the aerial delivery drone 900.In some implementations, such a routing module 1024 c may determineand/or receive location information related to a destination andtransmit at least one instruction to a motor (e.g., the motor 860 in thepropulsion subsystem 804) that causes the motor to move a device, suchas the self-propelled delivery robot 800, along a route.

The cooking instructions for the temperature control schedule 1024 a canbe determined by the control system 1000 using any number of inputsincluding at least, the food type in a particular compartment 104 andthe available cooking time before each respective food item is to bepicked up by a respective end user. Such cooking instructions may beexecuted in whole or in part by one or more controllers installed in thecontrol system 1000. The application programs 1024 may be stored as oneor more executable instructions.

In some embodiments, the control system 1000 operates in an environmentusing one or more of the network interfaces 1032 to optionallycommunicably couple to one or more remote computers, servers, displaydevices, such as the off-board control system 322, the mobile device304, and/or other devices via one or more communications channels, forexample, one or more networks such as the communications network 324.These logical connections may facilitate any known method of permittingcomputers to communicate, such as through one or more LANs and/or WANs.Such networking environments are well known in wired and wirelessenterprise-wide computer networks, intranets, extranets, and theInternet.

Further, local communication interface 1034 may be used for establishingcommunications with other components in a local device, such as mayoccur, for example, when the control system 1000 is implemented as partof a vending kiosk 100, a self-propelled kiosk 400, locker system 500,self-propelled delivery robot 800, and/or aerial delivery drone 900. Forexample, the local communication interface 1034 may be used tocommunicate temperature instructions to one or more heaters 208 orcoolers 210, as may be determined, for example, according to atemperature control schedule. In some implementations, the localcommunication interface 1034 may be used to communicate one or moreactuator signals to one or more actuators. In some implementations, thelocal communication interface 1034 may be communicatively coupled tonavigation equipment 1036. The navigation equipment 1036 may be used,for example, to provide location and/or navigation information forupcoming routes or deliveries by the self-propelled kiosk 400, theself-propelled delivery robot 800, and/or the aerial delivery drone 900.The navigation equipment may include location tracking equipment 1038such as receivers that can receive and determine coordinate informationfrom a GPS and/or GLONASS positioning system, and/or from cellulartowers.

FIG. 11 shows a method 1100 that may be used to implement a temperaturecontrol schedule, according to at least one illustrated implementation.The method 1100 starts at 1102, at which a processor-based device, forexample the control system 1000, receives a new order for a food item tobe picked up at a distribution location.

At 1104, a processor-based device, for example, the control system 1000,determines an estimated time for the food item to be picked up. Theestimated pick-up time at a distribution destination can take intoaccount an estimated or expected time for the end user to arrive at thedistribution destination. Such can take into account anticipated or evenreal-time traffic information, including slowdowns, accidents and/ordetours.

At 1104, a processor-based device, for example, the control system 1000,determines a temperature control schedule that may be used to controlthe temperature in one or more compartments 104. The temperature controlschedule may be used to activate and/or deactivate one or more of aheater 208 and a cooler 210 to heat or cool, respectively, the interior134 of a compartment 104. Such a temperature control schedule may beused to transition the interior 134 between a refrigerated state, acooking state, and a warming state. In some implementations, thetemperature control schedule may be used to fully cook a food item usingthe cooking state based upon the estimated pick-up time from 1102. Insuch an implementation, for example, the temperature control schedulemay be used to complete the cooking of the food time at the same time,or slightly before, the estimated pick up time. In some implementations,the temperature control schedule may maintain the interior 134 of thecompartment 104 in a refrigerated state until transitioning the interior134 to a cooking state to cook the food item. In some implementations,the temperature control schedule may transition the interior 134 to awarming state after the food item is fully cooked and before the fooditem is picked up. In some implementations, the estimated pick-up timemay be continuously updated based upon changing travel conditions. Theupdated estimated pick-up time may be used to update the temperaturecontrol schedule such that the food item may be finished cooking closeto the estimated pick-up time.

At 1106, a processor-based device, for example the control system 1000,transmits one or more control signals to implement the determinedtemperature control schedule from 1104. Such control signals, forexample, may be transmitted to one or more actuators, such as actuatorsthat may be used to lock one or more doors 102 that may be associatedwith the compartments 104 that are to transition to a cooking state. Insome implementations, the one or more signals may be transmitted to oneor more of the heater 208 and/or the cooler 210 to control thetemperature within the interior 134 of the compartment 104.

At 1108, the method 1100 terminates, for example until invoked again.Alternatively, the method 1100 may repeat continuously or repeatedly, ormay execute as multiple instances of a multi-threaded process.

FIG. 12 shows a method 1200 that may be used to modify one or more ofthe coupling actuators 530 to couple multiple ones of the doors 502 intoa single door 540, according to at least one illustrated implementation.The method 1200 starts at 1202, at a processor-based device, for examplethe control system 1000.

At 1204, a processor-based device, for example, the control system 1000,receives one or more signals indicating a size for the single door 540.Such signals may be received based upon input received from a user via,for example, a user input component or device, such as a touch screen.As such, the user input may specify the number of doors 502 needed forthe single door 540. In some implementations, the control system 1000may receive other information related to the size for the single door540, such as, for example, when an end user inputs information relatedto the dimensions of the item to be held. In such an implementation, thecontrol system 1000 may determine the size of the compartment andassociated single door 540 that is need to hold the item.

At 1206, a processor-based device, for example, the control system 1000,may generate and/or transmit one or more actuator signals to one or morecoupling actuators 530 based upon the determination from 1204. Suchactuator signals may cause each of the respective coupling actuators 530to selectively couple multiple ones of the doors 502 into a coupledconfiguration 536 to create a single door 540.

At 1208, the method 1200 terminates, for example until invoked again.Alternatively, the method 1200 may repeat continuously or repeatedly, ormay execute as multiple instances of a multi-threaded process.

FIG. 13 shows a method 1300 that may be used to modify one or more ofthe selectively movable shelves 720 and/or the selectively movable walls728 for a configurable compartment 704. The method 1300 starts at 1302,at a processor-based device, for example the control system 1000.

At 1304, a processor-based device, for example, the control system 1000,receives one or more signals indicating a size for the configurablecompartment 704. Such signals may be received based upon input receivedfrom a user via, for example, a user input component or device, such asa touch screen. As such, the user input may specify the size of theconfigurable compartment 704. In some implementations, the controlsystem 1000 may receive other information related to the size for theconfigurable compartment 704, such as, for example, when an end userinputs information related to the dimensions of the item to be heldwithin the configurable compartment 704. In such an implementation, thecontrol system 1000 may determine the size of the configurablecompartment 704 that is needed to hold the item.

At 1306, a processor-based device, for example, the control system 1000,generates and transmits one or more actuator signals to one or moreactuators used to control the position of one or more of the selectivelymovable shelves 720 and/or the selectively movable walls 728. Suchactuator signals may be based upon the determination from 1304. Suchactuator signals may cause each of the selectively movable shelves 720and/or the selectively movable walls 728 to move to the desiredposition.

At 1308, the method 1300 terminates, for example until invoked again.Alternatively, the method 1300 may repeat continuously or repeatedly, ormay execute as multiple instances of a multi-threaded process.

FIG. 14 shows a method 1400 that may be used to pay for and retrieve anitem located in a vending kiosk 100, according to at least oneillustrated implementation. The method 1400 starts at 1402, at which aprocessor-based device, for example the control system 1000.

At 1404, the processor-based device, such as the control system 1000,may receive information regarding the compartment 104 in a vending kiosk100 which an item, such as the container 200, may be placed. In someimplementations, the container 200 may be associated with an orderplaced by a customer. For example, in some implementations, thecontainer 200 may hold a food item that that corresponds to an order orrequest that had previously been placed by a customer for pick-up at thekiosk 100. In some implementations, the location information regardingthe compartment 104 may be determined by a vendor, employee, robot, orother operator who stocks items into the various compartments 104 of thevending kiosk 100. In some implementations, product (e.g., vendableproduct, assembled product) may be loaded from an exterior of thevending kiosk 100 into respective compartments. Such product may bepreviously fully cooked or partially cooked, prior to being loaded intothe compartments. Alternatively, product may be uncooked when loadedinto the compartments, and may optionally be cooked while in thecompartments, prior to vending or dispensing to a customer. In someimplementations, product (e.g., ingredients, raw ingredients,unassembled product) may be loaded from an exterior of the vending kiosk100 into a portion of the kiosk that is not a compartment and, or isotherwise generally not accessible by a customer. The loaded productmay, for example, be assembled via one or more robots into an assembledproduct. Once assembled, the assembled product may be moved within thevending kiosk to a compartment for vending, or may be vended directlyfrom a slot or other opening. The assembled product may be cooked orpartially cooked before being moved within the vending kiosk.Alternatively, or additionally, the assembled product may be cooked orfinish cooking within the compartment after being loaded into thecompartment.

Once the operator or robot has placed the container 200 in thecompartment 104, the operator may perform an action to associate thecontainer 200 with the compartment 104. Such an action may include, forexample, entering such information into a user interface (e.g., the userinput subsystem 148, or a hand-held device) to associate the container200 with the compartment 104. In some implementations, such an actionmay include reading a machine-readable symbol associated with thecontainer 200 and reading a machine-readable symbol associated with thecompartment 104 to store the location information. In someimplementations, such an action may include reading information from awireless transponder (e.g., RFID transponder) associated with thecontainer 200 and reading information from a wireless transponder (e.g.,RFID transponder) associated with the compartment 104 to store thelocation information. In some implementations, such an action mayinclude storing information that specifies or represents a pose of arobot with respect to a compartment to store the location information.Automatically reading or capturing such information may advantageouslyreduce the possibility that the data regarding the container 200 and/orthe compartment 104 may be erroneously entered.

At 1406, the processor-based device, such as the control system 1000,may receive a payment confirmation for the container 200 or item of foodor other vendable product in the compartment 104. In someimplementations, the magnetic stripe reader 150 may be used to read andcollect information that has been encoded within a financial transactioncard 158 using, for example, a magnetic stripe, a card chip, or someother type of storage medium. The magnetic stripe reader 150 may becommunicatively coupled to one or more processors that may authorize arequested purchase transaction based upon information stored withinand/or associated with the financial transaction card 158. Suchauthorization may then be received by the control system 1000. In someimplementations, a customer may initiate authorization for payment froma mobile device or some other customer-facing processor-enabled devicethat is remote from the vending kiosk 100. In such a situation, apayment authorization request may be transmitted to one or more remoteprocessors for approval. Once the remote processor-enabled deviceapproves the authorization request, at least one of the remoteprocessor-enabled device and/or the customer-facing processor-enableddevice may transmit payment confirmation to the control system 1000. Insome implementations, the control system 1000 may generate paymentconfirmation, such as, for example, when the customer enters money intothe currency acceptor and validator.

At 1408, the processor-based device, such as the control system 1000,upon receiving payment confirmation may transmit a signal that includesthe information identifying the compartment 104. Such a signal may betransmitted upon a request by the customer, such as, for example, whenthe customer arrives at the location of the vending kiosk 100. In someimplementations, the signal including the location information may betransmitted to the mobile device or some other customer-facingprocessor-enabled device that is separate from the vending kiosk 100. Insome implementations, the signal may be transmitted to the touchscreen154 for presentation. In such implementations, the signal may be used topresent the location information of the compartment to the customer.

At 1410, the processor-based device, such as the control system 1000,may receive one or more signals that the customer who authorized thepurchase transaction, or who is associated with such a customer whoauthorized the transaction, is located at the pick-up location. Forexample, in some implementations, the antenna 162 and radio 164 may beused to provide near field communication (NFC) capabilities and/or radiofrequency identification (RFID) capabilities with device and objectsproximate the vending kiosk 100. Such devices may include wirelessdevices associated with consumers who have authorized purchasetransaction for items contained with the vending kiosk 100. As such, thewireless device of the consumer may be with four (4) inches of theantenna for the antenna to receive NFC signals and/or within nine (9)feet of the antenna for the antenna to receive RFID signals. Such NFCsignals and/or RFID signals may be used to encode information toauthorize a purchase transaction and/or to confirm that a person ordevice logically associated with a previous purchase transaction isproximate the vending kiosk 100. The antenna 162 may be communicativelycoupled to a processor-enabled device that may decode the informationcontained with the NFC signal and/or RFID signal, and use the decodedinformation to provide such authorization and/or confirmation. In someimplementations, the controller 1000 may receive one or more signalsfrom the touchscreen 154 (e.g., a pick-up code or customeridentification) that may be used to identify a customer who is at thepick-up location.

At 1412, the processor-based device, such as the control system 1000,may transmit one or more signals to the vending kiosk 100 to unlock thedoor 102 to the compartment 104 that holds the container 200 or otheritem to be retrieved. Such a signal may be used to transition thelocking actuator 218 a, for example, to an UNLOCKED state to enable theassociated door 102 to be opened, thereby providing access to theappropriate compartment 104. In some implementations, a signal mayadditionally or alternatively cause a corresponding door toautomatically move from a closed to an open configuration or position.In some implementations, a signal may additionally or alternativelycause an activation (e.g., coupling, uncoupling) of certain hinges for acorresponding door, such that the door opens and closes in a defineddirection (e.g., hinged to swing open in a clockwise direction, hingedto swing open in a counterclockwise direction, hinged along a left edgeof the door to swing open in a clockwise direction, hinged along a rightedge of the door to swing open in a counterclockwise direction, hingedto swing open in an upward direction, hinged to swing open in a downwarddirection). Such can, for example, be based on one or more physicalcharacteristics of the specific customer that will access thecompartment via the door. For instance, the hinge may be configured toopen in a clockwise or counterclockwise direction to facilitate openingby a right-handed customer, or conversely, a left-handed customer. Alsofor instance, the hinge may be configured to open in an upward directionor a downward direction based on a height of the customer or where acustomer is confined to a wheelchair. The particular compartment mayeven be assigned based on a physical characteristic of a specificcustomer. Thus, orders from specific customers who are below a thresholdheight or confined to a wheelchair may be allocated to relatively lowercompartments in the vending kiosk, while orders from specific customerswho are above a threshold height may be allocated to relatively highercompartments in the vending kiosk. In some implementations, theprocessor-based device may transmit such a signal upon receiving thesignal at 1410 that the customer has reached the pick-up location (e.g.,the location of the vending kiosk 100).

At 1414, the method 1400 terminates, for example until invoked again.Alternatively, the method 1400 may repeat continuously or repeatedly, ormay execute as multiple instances of a multi-threaded process.

Various embodiments of the devices and/or processes via the use of blockdiagrams, schematics, and examples have been set forth herein. Insofaras such block diagrams, schematics, and examples contain one or morefunctions and/or operations, it will be understood by those skilled inthe art that each function and/or operation within such block diagrams,flowcharts, or examples can be implemented, individually and/orcollectively, by a wide range of hardware, software, firmware, orvirtually any combination thereof. In one embodiment, the presentsubject matter may be implemented via Application Specific IntegratedCircuits (ASICs). However, those skilled in the art will recognize thatthe embodiments disclosed herein, in whole or in part, can beequivalently implemented in standard integrated circuits, as one or morecomputer programs running on one or more computers (e.g., as one or moreprograms running on one or more computer systems), as one or moreprograms running on one or more controllers (e.g., microcontrollers) asone or more programs running on one or more processors (e.g.,microprocessors), as firmware, or as virtually any combination thereof,and that designing the circuitry and/or writing the code for thesoftware and or firmware would be well within the skill of one ofordinary skill in the art in light of this disclosure.

When logic is implemented as software and stored in memory, one skilledin the art will appreciate that logic or information, can be stored onany computer readable medium for use by or in connection with anycomputer and/or processor related system or method. In the context ofthis document, a memory is a computer readable medium that is anelectronic, magnetic, optical, or other another physical device or meansthat contains or stores a computer and/or processor program. Logicand/or the information can be embodied in any computer readable mediumfor use by or in connection with an instruction execution system,apparatus, or device, such as a computer-based system,processor-containing system, or other system that can fetch theinstructions from the instruction execution system, apparatus, or deviceand execute the instructions associated with logic and/or information.In the context of this specification, a “computer readable medium” canbe any means that can store, communicate, propagate, or transport theprogram associated with logic and/or information for use by or inconnection with the instruction execution system, apparatus, and/ordevice. The computer readable medium can be, for example, but notlimited to, an electronic, magnetic, optical, electromagnetic, infrared,or semiconductor system, apparatus, device, or propagation medium. Morespecific examples (a non-exhaustive list) of the computer readablemedium would include the following: an electrical connection having oneor more wires, a portable computer diskette (magnetic, compact flashcard, secure digital, or the like), a random access memory (RAM), aread-only memory (ROM), an erasable programmable read-only memory(EPROM, EEPROM, or Flash memory), an optical fiber, and a portablecompact disc read-only memory (CDROM). Note that the computer-readablemedium could even be paper or another suitable medium upon which theprogram associated with logic and/or information is printed, as theprogram can be electronically captured, via for instance opticalscanning of the paper or other medium, then compiled, interpreted orotherwise processed in a suitable manner if necessary, and then storedin memory.

In addition, those skilled in the art will appreciate that certainmechanisms of taught herein are capable of being distributed as aprogram product in a variety of forms, and that an illustrativeembodiment applies equally regardless of the particular type of signalbearing media used to actually carry out the distribution. Examples ofsignal bearing media include, but are not limited to, the following:recordable type media such as floppy disks, hard disk drives, CD ROMs,digital tape, and computer memory; and transmission type media such asdigital and analog communication links using TDM or IP basedcommunication links (e.g., packet links).

The various embodiments described above can be combined to providefurther embodiments. U.S. Pat. No. 9,292,889, issued Mar. 22, 2016,titled “Systems and Methods of Preparing Food Products”; U.S. patentapplication Ser. No. 62/311,787; U.S. patent application Ser. No.15/040,866, filed Feb. 10, 2016, titled, “Systems and Methods ofPreparing Food Products”; PCT Application No. PCT/US2014/042879, filedJun. 18, 2014, titled, “Systems and Methods of Preparing Food Products”;U.S. patent application Ser. No. 15/465,230, filed Mar. 21, 2017,titled, “Container for Transport and Storage of Food Products”; U.S.Provisional Patent Application No. 62/311,787, filed Mar. 22, 2016,titled, “Container for Transport and Storage of Food Products”; PCTApplication No. PCT/US2017/023408, filed Mar. 21, 2017, titled,“Container for Transport and Storage of Food Products”; U.S. patentapplication Ser. No. 15/481,240, filed Apr. 6, 2017, titled, “On-DemandRobotic Food Assembly and Related Systems, Devices, and Methods”; U.S.Provisional Patent Application No. 62/320,282, filed Apr. 8, 2016,titled, “On-Demand Robotic Food Assembly and Related Systems, Devices,and Methods”; PCT Application No. PCT/US17/26408, filed Apr. 6, 2017,titled, “On-Demand Robotic Food Assembly and Related Systems, Devices,and Methods”; U.S. Provisional Patent Application No. 62/394,063, filedSep. 13, 2016, titled, “Cutter with Radially Disposed Blades”; U.S.Provisional Patent Application No. 62/613,272, file Jan. 3, 2018, titled“MULTI-MODAL DISTRIBUTION SYSTEMS AND METHODS USING VENDING KIOSKS ANDAUTONOMOUS DELIVERY VEHICLES”; U.S. Provisional Patent Application No.62/531,131, filed Jul. 7, 2017, titled “CONFIGURABLE FOOD DELIVERYVEHICLE AND RELATED METHODS AND ARTICLES”; U.S. Provisional PatentApplication No. 62/531,136, filed Jul. 11, 2017, titled “CONFIGURABLEFOOD DELIVERY VEHICLE AND RELATED METHODS AND ARTICLES”; U.S.Provisional Patent Application No. 62/532,885, filed Jul. 14, 2017,titled “MULTI-MODAL VEHICLE IMPLEMENTED FOOD PREPARATION, COOKING, ANDDISTRIBUTION SYSTEMS AND METHODS”; U.S. patent application Ser. No.29/558,872; U.S. patent application Ser. No. 29/558,873; and U.S. patentapplication Ser. No. 29/558,874 are each incorporated herein byreference, in their entirety.

From the foregoing it will be appreciated that, although specificembodiments have been described herein for purposes of illustration,various modifications may be made without deviating from the spirit andscope of the teachings. Accordingly, the claims are not limited by thedisclosed embodiments.

1. A vending kiosk, comprising: a plurality of compartments, each of thecompartments having a respective interior and a respective opening viawhich items are retrievable or dispensable from the interior to anexterior of the vending kiosk, the interiors of the compartmentsdelineated from one another; a plurality of doors, the doorsrespectively moveable between a closed configuration in which the doorprevents access to the interior of at least one of the compartments andan open configuration in which the door provides access to the interiorof at least one of the compartments; a plurality of actuators responsiveto at least one actuator control signal to lock the doors in the closedconfiguration and selectively unlock one or more of the doors to move tothe open configuration; and at least one processor communicativelycoupled to the actuators to provide the at least one actuator controlsignal to unlock one or more of the doors in response to at least oneof: a purchase transaction occurring at or proximate the kiosk or areceipt of information that indicates a presence of a device or a personproximate the kiosk the device or person logically associated with aprevious purchase transaction.
 2. The vending kiosk of claim 1 whereinat least one of the plurality of actuators is comprised of at least oneof a solenoid, a piston and associated cylinder, a pair of magnetsincluding at least one electromagnet, and a pair of an electromagnet anda ferrous metal.
 3. The vending kiosk of claim 1 wherein the device orthe person proximate the vending kiosk is within 4 inches of the vendingkiosk.
 4. The vending kiosk of claim 1 wherein the device or the personproximate the vending kiosk is within 9 feet of the vending kiosk. 5.The vending kiosk of claim 1, further comprising: a plurality of heaterspositioned to heat the interiors of the compartments.
 6. The vendingkiosk of claim 5 wherein at least one of the plurality of heaters iscomprised of at least one of an electrically resistive heating element,a natural gas burner, a propane burner, and an inductive heatingelement.
 7. The vending kiosk of claim 5 wherein the plurality ofheaters includes at least one electrically resistive heating element percompartment.
 8. The vending kiosk of claim 5 wherein the plurality ofheaters are each operable to raise a temperature in at least one of thecompartments to at least 325° F. to cook an item of food stored in thecompartment.
 9. The vending kiosk of claim 5 wherein the plurality ofheaters are each operable to raise a temperature in at least one of thecompartments to between 140° F. and 250° F. to warm an already cookeditem of food stored in the compartment.
 10. The vending kiosk of claim1, further comprising: a plurality of coolers positioned to cool theinteriors of the compartments.
 11. The vending kiosk of claim 10 whereinat least one of the plurality of coolers is comprised of at least one ofa refrigerant carrying coil and associated compressor, a Peltier cooler,and a thermoelectric cooler.
 12. The vending kiosk of claim 10 whereinthe plurality of coolers includes at least one refrigerant carrying coilper compartment.
 13. The vending kiosk of claim 5, further comprising:thermal insulation positioned to thermally insulate the compartmentsfrom one another.
 14. The vending kiosk of claim 5, further comprising:at least one card reader that reads information encoded in a financialtransaction card, the at least one card reader communicatively coupledto the at least one processor to authorize a purchase transaction basedon the information read from the financial transaction card.
 15. Thevending kiosk of claim 5, further comprising: at least one antenna, andat least one radio communicatively coupled to the antenna, wherein theat least one processor includes a near field communications processorcommunicatively coupled to the radio to receive near fieldcommunications signals via the antenna and authorize a purchasetransaction based on information encoded in the received near fieldcommunications signals.
 16. The vending kiosk of claim 5, furthercomprising: at least one antenna, and at least one radio communicativelycoupled to the antenna, wherein the at least one processor includes anear field communications processor communicatively coupled to the radioto receive near field communications signals via the antenna and confirmthat the device or the person logically associated with the previouspurchase transaction is proximate the kiosk via the near fieldcommunications signals.
 17. The vending kiosk of claim 5, furthercomprising: at least one user input device comprising a keypad card thatallows entry of a key code, the user input device communicativelycoupled to the at least one processor which confirms that an entered keycode matches a key code for the previous purchase transaction.
 18. Thevending kiosk of claim 1 wherein the actuators are part of a latchmechanism that locks and unlock the doors.
 19. The vending kiosk ofclaim 18 wherein the doors are manually moveable from the closedconfiguration to the open configuration when unlocked.
 20. The vendingkiosk of claim 18 wherein the actuators are coupled to physically movethe doors to the closed configuration.
 21. The vending kiosk of claim 18wherein the actuators are coupled to physically move the doors to theopen configuration.
 22. The vending kiosk of claim 18 wherein theactuators fail to the closed configuration.
 23. The vending kiosk ofclaim 18 wherein the actuators fail to a locked state in which the doorsare locked in the closed configuration.
 24. The vending kiosk of claim18, further comprising: a plurality of springs that bias the doorstoward the closed configuration.
 25. The vending kiosk of claim 18,further comprising: a plurality of springs that bias the doors towardthe open configuration.
 26. The vending kiosk of claim 18, furthercomprising: a plurality of magnets that bias the doors toward the closedconfiguration.
 27. The vending kiosk of claim 26 wherein at least one ofthe plurality of magnets is a permanent magnet.
 28. The vending kiosk ofclaim 26 wherein at least one of the plurality of magnets is anelectromagnet.
 29. The vending kiosk of claim 18, further comprising: aplurality of magnets that bias the doors toward the open configuration.30. The vending kiosk of claim 29 wherein at least one of the pluralityof magnets is a permanent magnet.
 31. The vending kiosk of claim 29wherein at least one of the plurality of magnets is an electromagnet.32. The vending kiosk of claim 1 wherein the vending kiosk is aself-propelled vehicle, and further comprising: at least one of a set ofwheels or a set of treads; and at least one motor coupled to drive theset of wheels and the set of treads to propel the kiosk in an autonomousor semi-autonomous vehicle mode.
 33. The vending kiosk of claim 1,further comprising: a low pressure source having a pressure less than anatmospheric pressure of an external ambient environment; a plenumproximate a bottom of the vending kiosk, the plenum in fluidcommunication with the low pressure source; and a debris collectioncompartment, in communication with the plenum to collect debris pick-upvia a suction effect at the plenum.
 34. The vending kiosk of claim 1,further comprising: at least one brush positioned to contact a surfaceon which the vending kiosk is supported; and at least one motor coupledto move the brush to sweep debris on the surface of ground. 35-123.(canceled)